Vehicle control system

Abstract

The vehicle control system of the present disclosure includes: an autonomous driving control device that generates a target trajectory for autonomous driving; and a vehicle driving control device that performs vehicle driving control in such a manner that the vehicle follows the target trajectory. The vehicle driving control device determines whether the operating conditions for driving assistance control for the purpose of reducing the risk to the driving of the vehicle are satisfied based on the driving environment information acquired from a plurality of sensor devices, and performs driving assistance control when the operating conditions are satisfied. In addition, the vehicle driving control device generates risk information based on the driving environment information, and transmits the risk information to the autonomous driving control device before the operating conditions are satisfied. Then, the autonomous driving control device generates or corrects the target trajectory based on the received risk information.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control system. Background Art

[0002] A technology related to a vehicle control device that can avoid interference with driving control when performing collision avoidance control is disclosed in Japanese Unexamined Patent Application Publication No. 2017-114195. The vehicle control device of this technology executes first control (collision avoidance control) to avoid a collision between the vehicle and an obstacle. Moreover, the vehicle control device executes second control such as cruise control and lane keeping control. The vehicle control device recognizes obstacles around the vehicle and determines whether a prescribed collision avoidance condition has been satisfied based on the recognition result. When it is determined that the collision avoidance condition has been satisfied during the execution of the second control, the vehicle control device stops the second control and executes the first control.

[0003] Here, consider a case where driving assistance control that pre-judges the driving environment around the vehicle and intervenes in the control amount of vehicle driving control is executed during the automatic driving of the vehicle. During automatic driving, a target trajectory is generated by an automatic driving control device that manages automatic driving. Then, the vehicle driving control device executes vehicle driving control so that the vehicle follows the target trajectory for automatic driving.

[0004] However, from the viewpoint of vehicle safety, the target trajectory for automatic driving generated by the automatic driving control device may not always be appropriate. For example, a target trajectory that requires a sharp lane change or overtaking of a preceding vehicle may be generated. If vehicle driving control is executed in a manner that follows such an inappropriate target trajectory, it is feared that driving assistance control that intervenes in the control amount of vehicle driving control will be frequently executed. If the intervention frequency of the driving assistance control is high, the occupants of the vehicle and people around may feel discomfort and uneasiness. Summary of the Invention

[0005] The present disclosure provides a vehicle control system that can reduce the intervention frequency of driving assistance control performed by a vehicle driving control device, thereby suppressing discomfort and uneasiness of occupants.

[0006] A certain solution of the present disclosure is applied to a vehicle control system for controlling a vehicle performing autonomous driving. The vehicle control system includes: an autonomous driving control device that generates a target trajectory for autonomous driving of the vehicle; and a vehicle driving control device that executes vehicle driving control for controlling the driving control amount of the vehicle in such a way that the vehicle follows the target trajectory. The vehicle driving control device includes a plurality of sensor devices that acquire driving environment information, which is information indicating the driving environment of the vehicle. The vehicle driving control device is configured to: determine whether the operating conditions for driving assistance control are satisfied based on the driving environment information, where the driving assistance control is a control for intervening in the driving control amount for the purpose of reducing the risk of the vehicle's driving; and execute the driving assistance control when the operating conditions are satisfied. The vehicle driving control device is configured to: generate risk information as information related to the risk based on the driving environment information; and send the risk information to the autonomous driving control device before the operating conditions are satisfied. The autonomous driving control device is configured to generate or correct the target trajectory based on the received risk information.

[0007] In the above solution, the risk information includes risk object information related to a risk object that is the object of the risk. The autonomous driving control device is configured to generate or correct the target trajectory based on the risk object information.

[0008] In the above solution, the risk information includes risk environment information related to a risk environment that is the object of the risk. The autonomous driving control device is configured to generate or correct the target trajectory based on the risk environment information.

[0009] In the above solution, the risk information includes a recommended trajectory generated based on the driving environment information. The autonomous driving control device is configured to generate or correct the target trajectory based on the recommended trajectory.

[0010] In the above solution, the autonomous driving control device is configured to generate or correct the target trajectory based on the reliability of the risk information.

[0011] In the above solution, the autonomous driving control device is configured to: determine whether the received risk information is associated with a specified scenario in which the target trajectory should be prioritized; and notify the vehicle driving control device of the determination result when it is determined that the risk information is associated with the specified scenario. The vehicle driving control device is configured to: restrict the execution of the driving assistance control corresponding to the specified scenario when notified of the determination result.

[0012] According to the present disclosure, a vehicle driving control device generates risk information based on driving environment information, and transmits the risk information to an autonomous driving control device, wherein the driving environment information is obtained based on a plurality of sensor devices. The autonomous driving control device generates or corrects a target trajectory based on the received risk information. Thus, the risk judged by the plurality of sensor devices of the vehicle driving control device can be reflected in the target trajectory, so that the intervention frequency of the driving assistance control performed by the vehicle driving control device can be reduced, thereby suppressing the discomfort and uneasiness of the occupants. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Hereinafter, with reference to the drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, wherein the same reference numerals denote the same elements, and:

[0014] Figure 1 is a block diagram showing a configuration example for explaining the outline of the vehicle control system of the present embodiment.

[0015] Figure 2 is a block diagram showing a configuration example of the autonomous driving control device of the present embodiment.

[0016] Figure 3 is a flowchart showing a control routine of a target trajectory generation process executed by a first control device of the autonomous driving control device of the present embodiment.

[0017] Figure 4 is a block diagram showing a configuration example of the vehicle driving control device of the present embodiment.

[0018] Figure 5 is a flowchart showing a routine of a process related to collision avoidance control executed by a second control device.

[0019] Figure 6 is a flowchart for explaining the processes of risk information provision control and target trajectory correction processing.

[0020] Figure 7 is a diagram showing an example of a scenario for performing correction processing of a target trajectory.

[0021] Figure 8 is a diagram showing another example of a scenario for performing correction processing of a target trajectory.

[0022] Figure 9 is a diagram showing an example of a scenario where a vehicle V1 overtakes a preceding vehicle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, when numbers such as the number, quantity, amount, range, etc. of each element are mentioned in the embodiments shown below, the present disclosure is not limited to the mentioned numbers, except in cases where it is specifically stated or where it is clearly determined as that number in principle. In addition, with respect to the configurations and the like described in the embodiments shown below, they are not necessarily essential in the present disclosure, except in cases where it is specifically stated or where it is clearly determined as that configuration or the like in principle.

[0024] Embodiment

[0025] 1. Overall Configuration of the Vehicle Control System of the Present Embodiment

[0026] First, the schematic configuration of the vehicle control system of the present embodiment will be described. Figure 1 It is a block diagram showing a configuration example for explaining the outline of the vehicle control system of the present embodiment. Figure 1 The vehicle control system 100 shown is mounted on a vehicle. Hereinafter, the vehicle mounted with the vehicle control system 100 will also be referred to as "vehicle V1". Vehicle V1 is an autonomous vehicle capable of autonomous driving. As the autonomous driving here, autonomous driving of level 3 or higher in the level definition of SAE (Society of Automotive Engineers) is assumed. It should be noted that the power source of vehicle V1 is not limited.

[0027] The vehicle control system 100 controls vehicle V1. Alternatively, at least a part of the vehicle control system 100 may be an external device disposed outside the vehicle, and the vehicle may be remotely controlled. That is, the vehicle control system 100 may be dispersedly disposed in vehicle V1 and the external device.

[0028] As shown in Figure 1 the vehicle control system 100 is configured to include an autonomous driving control device 10, a vehicle driving control device 20, and a driving device 60. The autonomous driving control device 10 is a system for managing the autonomous driving of vehicle V1. The vehicle driving control device 20 is a system for performing vehicle driving control of vehicle V1. The autonomous driving control device 10 and the vehicle driving control device 20 may be physically separate devices or the same device. When the autonomous driving control device 10 and the vehicle driving control device 20 are physically separate devices, they exchange the necessary information through communication.

[0029] The traveling device 60 includes a steering device, a driving device, and a braking device. The steering device steers the wheels of the vehicle V1. The driving device is a driving source that generates the driving force of the vehicle V1. Examples of the driving device include an engine and an electric motor. The braking device generates a braking force for the vehicle V1. The traveling device 60 controls the traveling of the vehicle V1 based on traveling control amounts related to the steering, acceleration, and deceleration of the vehicle V1.

[0030] The automatic driving control device 10 has an automatic driving function unit 8 as a function for performing the automatic driving of the vehicle V1. In addition, the vehicle traveling control device 20 has a motion control function unit 30, a traveling assistance function unit 40, and a risk information providing function unit 50 as functions for performing vehicle traveling control, preventive safety control, and risk information providing control. Hereinafter, reference is also made to Figures 2 to 5 Describe the configurations and functions of the automatic driving control device 10 and the vehicle traveling control device 20.

[0031] 2. Configuration and Function of Automatic Driving Control Device

[0032] Figure 2 It is a block diagram showing a configuration example of the automatic driving control device of the present embodiment. As shown in this figure, the automatic driving control device 10 includes a first control device 12 for managing the automatic driving of the vehicle V1. In addition, the automatic driving control device 10 includes a first information acquisition device 14 connected to the input side of the first control device 12.

[0033] The first information acquisition device 14 is configured to include a surrounding condition sensor 141, a vehicle state sensor 142, a vehicle position sensor 143, and a communication device 144.

[0034] The surrounding condition sensor 141 identifies the surrounding information of the vehicle V1. For example, examples of the surrounding condition sensor 141 include a camera (imaging device), a lidar (LIDAR: Laser Imaging Detection and Ranging), and a radar. The surrounding information includes target information identified by the surrounding condition sensor 141. Examples of the target include surrounding vehicles, pedestrians, roadside objects, obstacles, white lines, traffic lights, etc. The target information includes the relative position and relative speed of the target with respect to the vehicle V1. The surrounding information identified by the surrounding condition sensor 141 is sent to the first control device 12 at any time.

[0035] The vehicle state sensor 142 detects vehicle information indicating the state of the vehicle V1. As the vehicle state sensor 142, a vehicle speed sensor, a lateral acceleration sensor, a yaw rate sensor, etc. may be exemplified. The vehicle information detected by the vehicle state sensor 142 is sent to the first control device 12 at any time.

[0036] The vehicle position sensor 143 detects the position and orientation of the vehicle V1. For example, the vehicle position sensor 143 includes a GPS (Global Positioning System) sensor. The GPS sensor receives signals transmitted from multiple GPS satellites and calculates the position and orientation of the vehicle V1 based on the received signals. The vehicle position sensor 143 can also perform well-known self-position estimation processing (localization) to improve the accuracy of the current position of the vehicle V1. The vehicle information detected by the vehicle position sensor 143 is sent to the first control device 12 at any time.

[0037] The communication device 144 communicates between the vehicle and the outside. For example, the communication device 144 communicates with an external device of the vehicle V1 via a communication network. Examples of the external device here include a roadside unit, surrounding vehicles, and surrounding infrastructure. The roadside unit is a beacon device that transmits information such as congestion information, traffic information for each lane, control information such as temporary stops, and traffic conditions at blind spot positions. In addition, when the external device is a surrounding vehicle, the communication device 144 performs vehicle-to-vehicle communication (V2V communication) with the surrounding vehicles. Moreover, when the external device is surrounding infrastructure, the communication device 144 performs vehicle-to-infrastructure communication (V2I communication) with the surrounding infrastructure.

[0038] The first control device 12 is an information processing device that performs various processes in the vehicle control system 100. Typically, the first control device 12 is a microcomputer including a first processor 122, a first storage device 124, and a first input / output interface 126. The first control device 12 is also referred to as an ECU (Electronic Control Unit).

[0039] Various information is stored in the first storage device 124. For example, the first driving environment information acquired by the first information acquisition device 14 is stored in the first storage device 124. The first driving environment information is information indicating the driving environment of the vehicle V1, including vehicle position information indicating the position of the vehicle V1, vehicle state information indicating the state of the vehicle V1, peripheral condition information indicating the conditions around the vehicle V1, and the like. As the first storage device 124, a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), etc. can be exemplified.

[0040] Map information including detailed road information is stored in the first storage device 124. For example, information such as the shape of the road, the number of lanes, and the lane width is included in the map information. Alternatively, the map information may be stored in an external management server. In this case, the first control device 12 communicates with the management server to acquire the required map information. The acquired map information is recorded in the first storage device 124.

[0041] The first processor 122 executes the autonomous driving software as a computer program. The autonomous driving software is stored in the first storage device 124. Alternatively, the autonomous driving software is recorded on a computer-readable recording medium. The first processor 122 executes the autonomous driving software, whereby the functions of the first control device 12 are realized.

[0042] Specifically, the first processor 122 executes the autonomous driving software related to the autonomous driving of the vehicle V1, whereby the functions of the autonomous driving function unit 8 are realized. That is to say, the autonomous driving function unit 8 is embedded in the first control device 12 as a function for performing the autonomous driving of the vehicle V1. Typically, the first control device 12 performs a target trajectory generation process for generating a target trajectory for the autonomous driving of the vehicle V1. In addition, the first control device 12 receives the provision of risk information described later and performs a target trajectory correction process for correcting the target trajectory.

[0043] Here, the target trajectory at least includes a set of target positions [Xi, Yi] of the vehicle V1 within the road on which the vehicle V1 travels. It should be noted that the X direction here is the forward direction of the vehicle V1, and the Y direction is the plane direction orthogonal to the X direction. It should be noted that the target trajectory may also include the target speed [VXi, VYi] for each target position [Xi, Yi].

[0044] Figure 3 It is a flowchart of a control routine of the target trajectory generation process executed by the first control device, which is the autonomous driving control device of the present embodiment. It should be noted that Figure 3 The shown control routine is repeatedly executed at a prescribed control cycle during the autonomous driving of the vehicle V1.

[0045] In Figure 3 the control routine shown, first, the first control device 12 acquires first driving environment information from the first information acquisition device 14 (step S100). The first driving environment information is stored in the first storage device 124.

[0046] Next, the first control device 12 generates a target trajectory for the autonomous driving of the vehicle V1 based on the map information, the first driving environment information, and the risk information (step S102). More specifically, the first control device 12 generates a driving plan for the vehicle V1 in autonomous driving based on the map information and the first driving environment information. The first control device 12 generates a target trajectory required for the vehicle V1 to travel according to the generated driving plan based on the first driving environment information.

[0047] For example, the first control device 12 generates a target trajectory for overtaking a preceding vehicle. More specifically, the first control device 12 identifies the preceding vehicle based on the surrounding condition information. Further, the first control device 12 predicts the future positions of the vehicle V1 and the preceding vehicle respectively based on the vehicle state information and the surrounding condition information, and generates a target trajectory for the vehicle V1 to avoid and overtake the preceding vehicle.

[0048] The first input / output interface 126 is an interface for exchanging information with the vehicle driving control device 20. The first control device 12 outputs the generated target trajectory to the vehicle driving control device 20 via the first input / output interface 126 (step S104). Whenever the target trajectory is updated, the latest target trajectory is output to the vehicle driving control device 20.

[0049] 3. Configuration and functions of the vehicle driving control device

[0050] Figure 4 is a block diagram showing a configuration example of the vehicle driving control device of the present embodiment. As shown in this figure, the vehicle driving control device 20 includes a second control device 22, a second information acquisition device 24, and a second input / output interface 226.

[0051] The second information acquisition device 24 is configured to include a surrounding condition sensor 241 and a vehicle state sensor 242 as a plurality of sensor devices.

[0052] The surrounding situation sensor 241 recognizes the surrounding information of the vehicle V1. For example, the surrounding situation sensor 241 may be exemplified by a camera (imaging device), a lidar (Laser Imaging Detection and Ranging), and a radar, etc. The surrounding information includes the target information recognized by the surrounding situation sensor 241. As targets, surrounding vehicles, pedestrians, roadside objects, obstacles, white lines, signal lights, etc. may be exemplified. The target information includes the relative position, relative speed, relative acceleration, time to collision (TTC; Time To Collision), collision probability, presence probability of the target, future trajectory, etc. of the target with respect to the vehicle V1. The surrounding information recognized by the surrounding situation sensor 241 is sent to the second control device 22 at any time.

[0053] The vehicle state sensor 242 detects vehicle information indicating the state of the vehicle V1. As the vehicle state sensor 242, a vehicle speed sensor, a lateral acceleration sensor, a yaw rate sensor, etc. may be exemplified. The vehicle information detected by the vehicle state sensor 242 is sent to the second control device 22 at any time.

[0054] It should be noted that the first information acquisition device 14 and the second information acquisition device 24 may be partially shared. For example, the surrounding situation sensor 141 and the surrounding situation sensor 241 may be the same. The vehicle state sensor 142 and the vehicle state sensor 242 may also be the same. That is to say, the autonomous driving control device 10 and the vehicle driving control device 20 may share a part of the first information acquisition device 14 or the second information acquisition device 24. In this case, the autonomous driving control device 10 and the vehicle driving control device 20 exchange the required information with each other.

[0055] In addition, the second information acquisition device 24 may further include devices the same as the vehicle position sensor 143 and the communication device 144 in addition to the surrounding situation sensor 241 and the vehicle state sensor 242.

[0056] The second control device 22 is an information processing device that performs various processes in the vehicle control system 100. Typically, the second control device 22 is a microcomputer including a second processor 222, a second storage device 224, and a second input / output interface 226. The second control device 22 is also referred to as an ECU (Electronic Control Unit).

[0057] Various types of information are stored in the second storage device 224. For example, second driving environment information acquired by the second information acquisition device 24 is stored in the second storage device 224. The second driving environment information is information indicating the driving environment of the vehicle V1, and includes the above-mentioned surrounding information, vehicle information, and the like. In addition, risk information described later is stored in the second storage device 224. Examples of the second storage device 224 include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), and the like.

[0058] The second processor 222 executes vehicle driving control software as a computer program. The vehicle driving control software is stored in the second storage device 224. Alternatively, the vehicle driving control software is recorded on a computer-readable recording medium. The second processor 222 executes the vehicle driving control software, whereby the functions of the second control device 22 are realized.

[0059] Specifically, the second processor 222 executes vehicle driving control software related to vehicle driving control, whereby the functions of the motion control function unit 30, the driving assistance function unit 40, and the risk information providing function unit 50 are realized. That is to say, the motion control function unit 30, the driving assistance function unit 40, and the risk information providing function unit 50 are embedded in the second control device 22 as functions for performing vehicle driving control, driving assistance control, and risk information providing control.

[0060] It should be noted that the motion control function unit 30, the driving assistance function unit 40, and the risk information providing function unit 50 may also be embedded in physically different control devices. In this case, the vehicle driving control device 20 only needs to separately include a control device for the motion control function unit 30 for performing vehicle driving control, a control device for the driving assistance function unit 40 for performing driving assistance control, and a control device for the risk information providing function unit 50 for performing risk information providing control.

[0061] The second input / output interface 226 is an interface for exchanging information with the autonomous driving control device 10. The target trajectory output from the first control device 12 is input to the vehicle driving control device 20 via the second input / output interface 226.

[0062] 4. Controls Executed in the Vehicle Driving Control Device

[0063] Next, the vehicle driving control and driving assistance control executed by the second control device 22 of the vehicle driving control device 20 will be described in more detail.

[0064] 4-1. Vehicle Driving Control

[0065] The second control device 22 performs vehicle driving control for controlling the steering, acceleration, and deceleration of the vehicle V1. Typically, the second control device 22 performs vehicle driving control by controlling the operation of the driving device 60. Specifically, the second control device 22 controls the steering of the vehicle V1 by controlling the steering device. In addition, the second control device 22 controls the acceleration of the vehicle V1 by controlling the driving device. The second control device 22 controls the deceleration of the vehicle V1 by controlling the braking device.

[0066] In the vehicle driving control, the second control device 22 receives a target trajectory from the automatic driving control device 10 during the automatic driving of the vehicle V1. Basically, the second control device 22 controls the driving control amounts related to the steering, acceleration, and deceleration of the vehicle V1 in such a manner that the vehicle V1 follows the target trajectory. Typically, the motion control function unit 30 calculates the deviations (e.g., lateral deviation, yaw angle deviation, speed deviation, etc.) between various state amounts of the vehicle V1 and the target trajectory, and performs vehicle driving control so as to reduce the deviations.

[0067] 4 - 2. Driving assistance control

[0068] The second control device 22 performs driving assistance control for the purpose of improving the safety of the vehicle V1, and this driving assistance control is a control that intervenes in the driving control amounts of the vehicle driving control. Typically, the second control device 22 performs collision avoidance control for avoiding the collision of the vehicle V1 with a collision object during the automatic driving of the vehicle V1. The collision avoidance control is also referred to as pre-crash safety (PCS). Figure 5 is a flowchart showing a routine of the process related to the collision avoidance control performed by the second control device 22. The second control device 22 repeatedly executes the Figure 5 shown routine during the automatic driving of the vehicle V1.

[0069] When Figure 5 the shown routine starts, the second control device 22 acquires second driving environment information from the second information acquisition device 24 (step S110). The acquired second driving environment information is stored in the second storage device 224.

[0070] Next, the second control device 22 senses an object to be avoided based on the second driving environment information (step S112). Next, the second control device 22 determines whether the operating conditions for the driving assistance control for the object to be avoided are satisfied (step S114). Here, for example, "the time to collision (TTC) from the vehicle V1 to the object to be avoided is smaller than a prescribed threshold value" is set as the operating condition. As a result, when the operating conditions are not satisfied, the processing of this routine ends. On the other hand, when the operating conditions are satisfied, the second control device 22 calculates an intervention driving control amount for avoiding a collision with the object to be avoided (step S116). The calculated intervention driving control amount is output to the motion control function unit 30.

[0071] Basically, the motion control function unit 30 calculates the driving control amount of the vehicle V1 in such a manner that the vehicle V1 follows the target trajectory. However, when the intervention driving control amount is input from the driving assistance function unit 40, the motion control function unit 30 corrects the driving control amount based on the intervention driving control amount input from the driving assistance function unit 40. Typically, when the intervention driving control amount is input from the driving assistance function unit 40, the motion control function unit 30 outputs the intervention driving control amount as the final driving control amount.

[0072] 5. Features of the vehicle control system 100 of the present embodiment

[0073] During the automatic driving of the vehicle V1, the automatic driving control device 10 determines the collision risk for the driving of the vehicle V1 based on the first driving environment information and generates a target trajectory. The vehicle driving control device 20 controls the driving device 60 of the vehicle V1 in such a manner that the vehicle V1 follows the target trajectory.

[0074] Here, the determination of the collision risk by the automatic driving control device 10 and the determination of the collision risk by the vehicle driving control device 20 do not necessarily coincide. For example, the following situation can be considered: when the automatic driving control device 10 generates a target trajectory for approaching and overtaking a preceding vehicle, the vehicle driving control device 20 determines that the collision risk with the preceding vehicle is high and performs an intervention based on the driving assistance control. If the driving assistance control is frequently intervened, the occupants of the vehicle V1 and people around may feel discomfort and uneasiness. If the automatic driving control device 10 unilaterally rejects the intervention of the driving assistance control as a countermeasure, it is impossible to improve the safety against the collision risks that the automatic driving control device 10 has not recognized or has recognized insufficiently.

[0075] Therefore, in the vehicle control system 100 of the present embodiment, the vehicle driving control device 20 is made to execute the risk information providing control, and the automatic driving control device 10 is made to execute the target trajectory correction process, thereby solving the above-described problems. Figure 6It is a flowchart for explaining the process of providing control over risk information and performing target trajectory correction processing. Hereinafter, with reference to the flowchart, the specific content of these controls will be described.

[0076] 5-1. Risk Information Provision Control

[0077] First, the risk information provision control executed by the second control device 22 of the vehicle driving control device 20 will be described. In the risk information provision control, first, the vehicle driving control device 20 generates information related to the collision risk for the driving of the vehicle V1 based on the second driving environment information (step S140). This information is hereinafter referred to as "risk information". Typically, as risk information, risk object information, risk environment information, or recommended trajectory information can be exemplified.

[0078] Risk object information is information related to risk objects that have a collision risk during the driving of the vehicle V1. The risk object information includes the relative position, relative speed, relative acceleration, time to collision (TTC), collision probability, existence probability (reliability) of the risk object, etc. relative to the vehicle V1. The existence probability (reliability) of the risk object can be calculated, for example, using an index based on the time when the risk object is continuously detected by the surrounding condition sensor 241.

[0079] Risk environment information is information related to risk environments that have a collision risk during the driving of the vehicle V1. As risk environment information, the white line of the road, the road edge, intersections with blind spots, blind spots between parked vehicles, blind spots of vehicles waiting to turn right or left, etc. can be exemplified. Recommended trajectory information is information related to a recommended trajectory for reducing the collision risk.

[0080] The second control device 22 of the vehicle driving control device 20 generates this risk information based on the second driving environment information obtained from the second information acquisition device 24. The generated risk information is stored in the second storage device 224 at any time. Then, before the operating conditions of the driving assistance control related to this risk information are established, the second control device 22 sends (provides) the risk information to the autonomous driving control device 10 via the second input / output interface 226 (step S142).

[0081] 5―2. Target Trajectory Correction Processing

[0082] Next, the target trajectory correction processing executed by the first control device 12 of the autonomous driving control device 10 will be described. The autonomous driving control device 10 passes through Figure 3The target trajectory generation process shown is used to generate a target trajectory (step S120). In the target trajectory correction process, the autonomous driving control device 10 first receives risk information provided by the vehicle driving control device 20 (step S122). Next, the autonomous driving control device 10 determines whether correction of the target trajectory is necessary based on the received risk information (step S124). Then, the autonomous driving control device 10 corrects (recalculates) the target trajectory according to the determination of whether correction is necessary (step S126).

[0083] Basically, the autonomous driving control device 10 corrects the target trajectory in a manner that eliminates the collision risk included in the risk information. However, depending on the scenario in which the vehicle V1 is traveling, there are sometimes responses where the target trajectory is not corrected. Hereinafter, some scenarios will be exemplified to explain the target trajectory correction process executed in the first control device 12 of the autonomous driving control device 10.

[0084] For example, when the risk information provided by the vehicle driving control device 20 is risk object information, the risk object information includes information such as the relative position, relative speed, relative acceleration, time to collision (TTC), collision probability, and existence probability (reliability) of the risk object with respect to the vehicle V1. The first control device 12 determines whether correction of the target trajectory is necessary based on this information included in the risk object information.

[0085] The target trajectory correction process executed by the autonomous driving control device 10 can consider various responses according to the encountered scenario. As an example, consider a scenario where the risk object included in the risk object information is a pedestrian on the side of a road with a wide road width. Figure 7 It is a diagram showing an example of a scenario where the target trajectory correction process is performed. In this scenario, in the case where the presence of an oncoming vehicle is not recognized, it can be determined that there is no collision risk with an oncoming vehicle or the like even if the distance from the pedestrian is further widened and the vehicle travels. Therefore, in such a scenario, for example, the first control device 12 determines that the target trajectory needs to be corrected, and in order to reduce the collision risk considered by the vehicle driving control device 20, the risk object information is effectively used to correct the target trajectory in such a way that the distance from the pedestrian is further widened.

[0086] Figure 8This is a diagram showing other examples of scenarios where the target trajectory is corrected. In the scenario shown in this diagram, when the risk object included in the risk object information is a pedestrian on the roadside of a road, the autonomous driving control device 10 identifies the oncoming vehicle as a risk object. In this case, it can be judged that if the vehicle travels with a further increased distance from the pedestrian, there is a risk of collision with the oncoming vehicle. In such a scenario, for example, the first control device 12 determines that no correction of the target trajectory is required, or corrects the target trajectory in a way that further decelerates to reduce the collision risk considered by the vehicle driving control device 20.

[0087] As another example, consider a scenario where the risk object included in the risk object information is a risk object already identified by the autonomous driving control device 10. In this case, the first control device 12 compares the survival probability (reliability) of the risk object included in the risk object information with the survival probability (reliability) of the risk object obtained from the first driving environment information. When the survival probability (reliability) of the risk object included in the risk object information is higher than the survival probability (reliability) of the risk object obtained from the first driving environment information, it can be judged that the vehicle driving control device 20 has detected the risk object with a higher reliability than the autonomous driving control device 10. In such a scenario, for example, the first control device 12 gives priority to the information of the risk object included in the risk object information to correct the target trajectory.

[0088] Or, when the survival probability (reliability) of the risk object included in the risk object information is lower than the survival probability (reliability) of the risk object obtained from the first driving environment information, it can be judged that the collision risk for this risk object has been sufficiently reduced by the current target trajectory. In such a scenario, for example, the first control device 12 determines that no correction of the target trajectory is required.

[0089] As another example, consider a scenario where the risk object included in the risk object information is a risk object not identified by the autonomous driving control device 10. In this case, it can sometimes be judged that the collision risk for this risk object has not been reduced by the current target trajectory. In such a scenario, for example, the first control device 12 corrects the target trajectory in a way that reduces the collision risk for this risk object.

[0090] When the risk information provided by the vehicle driving control device 20 is recommended trajectory information, the first control device 12 determines that it is necessary to mediate these trajectories and corrects the target trajectory in a way that maximally ensures the safety of vehicle V1.

[0091] According to such target trajectory correction processing, the risk information provided by the vehicle driving control device 20 can be used to correct the target trajectory. Thus, before the operating conditions of the driving assistance control are satisfied, an opportunity to correct the target trajectory can be obtained, so that the intervention frequency of the driving assistance control performed by the vehicle driving control device 20 can be reduced, thereby suppressing the discomfort and uneasiness of the occupants.

[0092] 6. Modified Example

[0093] The vehicle control system 100 of the present embodiment may also adopt the following modified solutions.

[0094] 6-1. Modified Example 1

[0095] The driving assistance control executed by the vehicle driving control device 20 is not limited to collision avoidance control (PCS). That is, the vehicle driving control device 20 may execute a wide range of driving assistance controls such as lane departure alert (LDA) for preventing lane departure and proactive driving assist (PDA).

[0096] 6-2. Modified Example 2

[0097] It is assumed that the autonomous driving control device 10 corrects the generated target trajectory based on the risk information provided by the vehicle driving control device 20. However, it may also be assumed that the autonomous driving control device 10 considers the risk information in the target trajectory generation process to generate the target trajectory.

[0098] 6-3. Modified Example 3

[0099] Even when the autonomous driving control device 10 generates a target trajectory after considering the collision risk, the vehicle driving control device 20 sometimes determines that there is a collision risk and also sends the risk information to the autonomous driving control device 10. Figure 9 This is a diagram showing an example of a scenario in which the vehicle V1 overtakes the preceding vehicle. For example, a scenario in which the inter-vehicle distance between the vehicle V1 and the preceding vehicle temporarily narrows when the autonomous driving control device 10 overtakes the preceding vehicle conforms to this scenario. In such a case, it can be considered that the autonomous driving control device 10 does not change the target trajectory even if it receives the risk information. However, in the case of not changing the target trajectory, the operating conditions of the driving assistance control of the vehicle driving control device 20 will be satisfied, and unnecessary intervention based on the driving assistance control will be performed.

[0100] Therefore, the vehicle travel control device 20 determines whether the received risk information is associated with a specified scenario for which the generated target trajectory should be prioritized. In addition to the scenario of overtaking a preceding vehicle described above, scenarios such as the vehicle travel control device 20 temporarily narrowing the inter-vehicle distance from the preceding vehicle and the following vehicle also conform to the specified scenarios here.

[0101] When the autonomous driving control device 10 determines that the provided risk information is associated with a specified scenario, it notifies the determination result to the vehicle travel control device 20. The vehicle travel control device 20 that has received the determination result notification restricts the execution of the driving assistance control corresponding to the specified scenario. Here, the vehicle travel control device 20 changes the threshold value in a direction in which the operating conditions of the driving assistance control are difficult to be satisfied. Alternatively, the vehicle travel control device 20 prohibits the operation of the driving assistance control.

[0102] According to such an operation, when the risk information provided from the vehicle travel control device 20 is associated with a specified scenario for which the target trajectory of the autonomous driving control device 10 should be prioritized, the execution of the driving assistance control corresponding to the specified scenario can be restricted. Thereby, it is possible to prevent the driving assistance control from being executed in a specified scenario where the driving assistance control is not required.

[0103] 6 - 4. Modification Example 4

[0104] The autonomous driving control device 10 and the vehicle travel control device 20 may also be designed and developed separately. For example, the vehicle travel control device 20 responsible for vehicle travel control is designed and developed by a developer (typically an automobile manufacturer) who is proficient in machinery and vehicle motion characteristics. In this case, the reliability of the vehicle travel control device 20 is extremely high. On the premise of using such a highly reliable driving assistance function unit 40, an autonomous driving service provider can design and develop software for the autonomous driving control device 10. In this sense, the vehicle travel control device 20 can be said to be a platform for autonomous driving services.

Claims

1. A vehicle control system for controlling a vehicle performing autonomous driving, the vehicle control system comprising: An automatic driving control device generates a target trajectory for the automatic driving of the vehicle based on first driving environment information acquired by a first information acquisition device; and a vehicle driving control device that performs vehicle driving control for controlling a driving control amount of the vehicle in such a manner that the vehicle follows the target trajectory, the autonomous driving control device includes a first input / output interface for exchanging information between it and the vehicle driving control device, and the target trajectory is output to the vehicle driving control device via the first input / output interface, the vehicle driving control device includes a second input / output interface for exchanging information between it and the autonomous driving control device, and the target trajectory is input to the vehicle driving control device via the second input / output interface, the vehicle driving control device includes a second information acquisition device for acquiring second driving environment information, which is information indicating the driving environment of the vehicle, the vehicle driving control device is configured to: judge whether the operating conditions of the driving assistance control are satisfied based on the second driving environment information, and the driving assistance control is a control for intervening in the driving control amount for the purpose of reducing the risk of the vehicle's driving; and execute the driving assistance control when the operating conditions are satisfied, the vehicle driving control device is configured to: generate risk information as information related to the risk based on the second driving environment information; and before the operating conditions are satisfied, send the risk information to the autonomous driving control device via the second input / output interface, the autonomous driving control device is configured to generate or correct the target trajectory based on the risk information received via the first input / output interface.

2. The vehicle control system according to claim 1, wherein the risk information includes risk object information related to a risk object that is the object of the risk, the autonomous driving control device is configured to generate or correct the target trajectory based on the risk object information.

3. The vehicle control system according to claim 1 or 2, wherein the risk information includes risk environment information related to a risk environment that is the object of the risk, the autonomous driving control device is configured to generate or correct the target trajectory based on the risk environment information.

4. The vehicle control system according to claim 1 or 2, wherein the risk information includes a recommended trajectory generated based on the second driving environment information, the autonomous driving control device is configured to generate or correct the target trajectory based on the recommended trajectory.

5. The vehicle control system according to claim 2, wherein the autonomous driving control device is configured to generate or correct the target trajectory based on the reliability of the risk information.

6. The vehicle control system according to claim 2, wherein the autonomous driving control device is configured to: judge whether the received risk information is associated with a specified scenario in which the target trajectory should be prioritized; and In the case where it is determined that the risk information is associated with the specified scenario, notify the determination result to the vehicle driving control device. The vehicle driving control device is configured to: in the case of receiving the notification of the determination result, restrict the execution of the driving assistance control corresponding to the specified scenario.

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