Vehicle control system and vehicle control method

Abstract

The present invention relates to a vehicle control system and a vehicle control method. The first vehicle includes: a communication device that transmits and receives V2V information; a memory that stores V2V information; and a processor that performs an abnormal driving determination process. The second vehicle includes: a communication device that transmits and receives V2V information; a memory that stores V2V information and driving environment information of the second vehicle; and a processor that performs an objective determination process. In the objective determination process, it is objectively determined whether the first vehicle is driving abnormally based on the driving environment information of the second vehicle. The result obtained through the objective determination process is transmitted to the first vehicle. In the abnormal driving determination process, it is determined whether the first vehicle is driving abnormally based on the determination result. When it is determined that the first vehicle is driving abnormally, emergency vehicle control of the first vehicle is performed.

Description

Technical Field

[0001] The present invention relates to a system and method for improving the driving safety of a first vehicle by using communication (vehicle-to-vehicle communication; hereinafter also referred to as "V2V") between the first vehicle as the present vehicle and a second vehicle as another vehicle. Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2019-87076 discloses a system including a plurality of vehicles traveling in a platoon and a server that communicates with these vehicles individually. The server of this conventional system detects an abnormal vehicle among the plurality of vehicles based on the behavior information of each vehicle. Detection of the abnormal vehicle is performed based on statistical processing of the behavior information. When an abnormal vehicle is detected, the server determines an abnormal part based on the behavior information of the abnormal vehicle received from a normal vehicle traveling before or after the abnormal vehicle. Determination of the abnormal part can also be performed using V2V between the abnormal vehicle and the normal vehicle. When the abnormal part is determined, the server provides information on the abnormal part to the abnormal vehicle or the normal vehicle.

[0003] Information on the abnormal part is useful information for both the abnormal vehicle and the normal vehicle. In the conventional system, provision of such information is performed via the server, but it is considered that information provision can also be performed without going through the server.

[0004] In order to perform information provision without going through the server, it is considered to provide information useful for the first vehicle to the first vehicle by using V2V between the first vehicle as the present vehicle and the second vehicle as another vehicle. In particular, objective information related to whether the first vehicle is driving abnormally is useful, and it is desirable to actively provide this information from the second vehicle to the first vehicle. However, there is no prior art developed from such a perspective. Summary of the Invention

[0005] The present invention provides a new technology capable of improving the driving safety of a first vehicle by using V2V between the first vehicle as the present vehicle and the second vehicle as another vehicle.

[0006] The first invention is a vehicle control system that utilizes communication between a first vehicle and a second vehicle, and has the following features. The first vehicle includes: a communication device for transmitting and receiving vehicle-to-vehicle communication information; a memory for storing the vehicle-to-vehicle communication information; and a processor for performing an abnormal driving determination process to determine abnormal driving of the first vehicle. The second vehicle includes: a communication device for transmitting and receiving the vehicle-to-vehicle communication information; a memory for storing the vehicle-to-vehicle communication information and driving environment information of the second vehicle; and a processor for performing an objective determination process to determine the abnormal driving. In the objective determination process, the processor of the second vehicle determines whether the first vehicle is driving abnormally based on the driving environment information of the second vehicle, generates an objective determination result representing the result obtained through the objective determination process as the vehicle-to-vehicle communication information to be sent to the first vehicle, and sends the objective determination result to the communication device of the second vehicle. In the abnormal driving determination process, the processor of the first vehicle determines whether the first vehicle is driving abnormally based on the objective determination result, and when it is determined that the first vehicle is driving abnormally, performs emergency vehicle control on the first vehicle.

[0007] Alternatively, the second invention further has the following features in the first invention. Alternatively, the driving environment information of the first vehicle is also stored in the memory of the first vehicle. Alternatively, the abnormal driving determination process includes a subjective determination process for subjectively determining abnormal driving of the first vehicle. Alternatively, in the subjective determination process, the processor of the first vehicle determines whether the first vehicle is driving abnormally based on the driving environment information of the first vehicle. Alternatively, in the abnormal driving determination process, the processor of the first vehicle comprehensively determines whether the first vehicle is driving abnormally based on the objective determination result and a subjective determination result representing the result obtained through the subjective determination process.

[0008] Alternatively, the third invention further has the following features in the second invention. Alternatively, in the abnormal driving determination process, the processor of the first vehicle performs a comprehensive determination of the abnormal driving based on a calculation formula represented by the subjective determination result, the objective determination result, and a weight coefficient of the subjective determination result and the objective determination result. Alternatively, the weight coefficient is changed based on the driving environment information of the first vehicle.

[0009] The fourth invention is a vehicle control method that utilizes communication between a first vehicle and a second vehicle, and has the following features. A processor of the second vehicle acquires driving environment information of the second vehicle, performs an objective determination process for objectively determining abnormal driving of the first vehicle based on the driving environment information, and transmits an objective determination result indicating the result obtained through the objective determination process to the first vehicle. A processor of the first vehicle receives the objective determination result, determines whether the first vehicle is driving abnormally based on the objective determination result, and performs emergency vehicle control of the first vehicle when it is determined that the first vehicle is driving abnormally.

[0010] According to the first invention or the fourth invention, an objective determination process is performed in a processor of the second vehicle, and the objective determination result is transmitted to the first vehicle. In the processor of the first vehicle, it is determined whether the first vehicle is driving abnormally based on the objective determination result. Then, when it is determined that the first vehicle is driving abnormally, emergency vehicle control of the first vehicle is performed. Therefore, it is possible to make the determination of its own abnormal driving by the first vehicle objective, thereby improving the driving safety of the first vehicle.

[0011] According to the second invention, a subjective determination process is performed in a processor of the first vehicle, and it is comprehensively determined whether the first vehicle is driving abnormally based on the subjective determination result and the objective determination result from the second vehicle. Therefore, it is possible to reflect the subjective determination result in the determination of its own abnormal driving by the first vehicle.

[0012] According to the third invention, the weight coefficients of the subjective determination result and the objective determination result are changed based on the driving environment information of the first vehicle. By changing the weight coefficients, it is possible to change the degree to which the subjective determination result is reflected in the determination of its own abnormal driving by the first vehicle. 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 diagram showing an example of V2V performed by the vehicle control system of the embodiment.

[0015] Figure 2 is a diagram for explaining an application example of the embodiment.

[0016] Figure 3 is a diagram for explaining an application example of the embodiment.

[0017] Figure 4 is a diagram for explaining another application example of the embodiment.

[0018] Figure 5 This is a diagram illustrating another application example of the embodiment.

[0019] Figure 6 This is a block diagram showing a configuration example of the vehicle control system according to the embodiment.

[0020] Figure 7 This is a flowchart illustrating the process example performed by the control device (processor) of the second vehicle.

[0021] Figure 8 This is a flowchart illustrating the process example performed by the control device (processor) of the first vehicle.

[0022] Figure 9 This is a flowchart illustrating another process example performed by the control device (processor) of the first vehicle. Detailed Embodiment

[0023] Hereinafter, with reference to the accompanying drawings, a vehicle control system and a vehicle control method according to an embodiment of the present invention will be described. It should be noted that the vehicle control method according to the embodiment is implemented by computer processing performed in the vehicle control system according to the embodiment. In addition, in each figure, the same or corresponding parts are denoted by the same reference numerals, and the description thereof is simplified or omitted.

[0024] 1. Outline of the Embodiment

[0025] 1-1. V2V

[0026] Figure 1 This is a diagram showing an example of V2V performed in the embodiment. In Figure 1 it depicts a first vehicle M1 traveling on lane L1. There are multiple second vehicles M2 around the first vehicle M1. One second vehicle M2 traveling on lane L1 is a following vehicle traveling in the same direction as the traveling direction of the first vehicle M1 in the rear of the first vehicle M1. Two second vehicles M2 traveling on lane L2 are oncoming vehicles traveling in the direction opposite to the traveling direction of the first vehicle M1.

[0027] Here, Figure 1 the X direction shown is the traveling direction of the first vehicle M1, and the Y direction is the planar direction orthogonal to the X direction. However, the coordinate system (X, Y) is not limited to this example. A control system 10 is mounted on the first vehicle M1. A control system 20 is mounted on the second vehicle M2. The control system 10 and the control system 20 constitute the vehicle control system according to the embodiment.

[0028] The control system 10 and the control system 20 are configured to communicate with each other. In the communication between the control system 10 and the control system 20, various V2V information is exchanged. As the V2V information, the identification information of the first vehicle M1 and the second vehicle M2 (hereinafter, also referred to as "ID information") can be exemplified. By receiving the ID information of the second vehicle M2, the first vehicle M1 identifies the second vehicle M2 as a vehicle capable of V2V. By receiving the ID information of the first vehicle M1, the second vehicle M2 identifies the first vehicle M1 as a vehicle capable of V2V.

[0029] The driving condition information of the first vehicle M1 and the second vehicle M2 may also be included in the V2V information. As the driving condition information, speed information, traveling direction information, and position information can be exemplified. The position information is composed of, for example, latitude and longitude information. For example, in the case where the driving condition information of the first vehicle M1 is included in the V2V information and the second vehicle M2 has map information, the second vehicle M2 identifies the specific driving condition of the first vehicle M1 based on this information. As the specific driving condition, the lane in which the first vehicle M1 is currently traveling, the distance from the second vehicle M2 to the first vehicle M1, and the relative speed of the second vehicle M2 with respect to the first vehicle M1 can be exemplified.

[0030] 1-2. Abnormal driving determination

[0031] Figure 2 and Figure 3 are diagrams for explaining application examples of the embodiments. The first vehicle M1 and the second vehicle M2 depicted in Figure 2 are common to Figure 1 The difference from Figure 1 is that Figure 2 the driving state of the first vehicle M1 shown in Figure 2 is abnormal. As the "abnormal driving state" of the first vehicle M1, a driving state in which the legal speed is greatly exceeded (out-of-control state), a driving state in which it snakes across multiple lanes (snake state), a driving state in which it travels in the direction opposite to the traveling direction indicated by the lane (reverse state), and a driving state in which it violates the signal indication (ignoring signal state) can be exemplified.

[0032] The abnormal driving state of the first vehicle M1 is detected by the abnormal driving determination of the second vehicle M2 (control system 20). In the abnormal driving determination, based on the "driving environment information" of the second vehicle M2, it is determined whether the driving state of the first vehicle M1 is abnormal. The driving environment information of the second vehicle M2 includes the driving condition information of the first vehicle M1 obtained by the external sensors (radar sensors, cameras, etc.) equipped with the control system 20. Therefore, according to the driving environment information of the second vehicle M2, it is "objectively" determined whether the driving state of the first vehicle M1 is abnormal. Hereinafter, the abnormal driving determination of the first vehicle M1 performed by the control system 20 is also referred to as "objective determination".

[0033] In the case where the driving condition information of the first vehicle M1 is included in the V2V information, the driving condition information of the first vehicle M1 can also be combined with the above-mentioned driving condition information from the external sensors for objective determination. In the case where the second vehicle M2 has map information, the map information can also be combined with the above-mentioned driving condition information of the first vehicle M1 from the external sensors for objective determination. In this case, the map information of the second vehicle M2 is included in the driving environment information of the second vehicle M2.

[0034] As Figure 3 shown, the result of the objective determination (hereinafter, also referred to as "objective determination result".) RO is provided to the first vehicle M1 through V2V. Specifically, the objective determination result RO is a normal determination result NM or an abnormal determination result ANM. In Figure 3 the example shown, the objective determination results RO of two are abnormal determination results ANM, and the objective determination result RO of one is a normal determination result NM. These results are sent to the first vehicle M1 as V2V information.

[0035] The first vehicle M1 (control system 10) that receives the objective determination result RO determines its own abnormal driving based on this objective determination result RO. This determination is performed, for example, according to whether the following formula (1) of the determination index Z is satisfied.

[0036] Z = Σ(1 / Nro)Yi ≥ TH1……(1)

[0037] In formula (1), Nro represents the total number of received objective determination results RO, and the variable Yi (1 ≤ i ≤ Nro) represents Yi = 0 in the case of the normal determination result NM, and Yi = 1 in the case of the abnormal determination result ANM. The threshold TH1 is a value satisfying 0.5 ≤ TH1 < 1.0 and is preset.

[0038] When it is determined that the condition of Expression (1) is satisfied, the control system 10 executes emergency vehicle control for the first vehicle M1. By executing the emergency vehicle control, the abnormal driving state of the first vehicle M1 is eliminated. As the emergency vehicle control, deceleration driving control and avoidance driving control can be exemplified. In the deceleration driving control, for example, the control amount of the brake actuator of the first vehicle M1 is set so that the first vehicle M1 decelerates at a prescribed target deceleration (for example, -0.1G). In the avoidance driving control, for example, the control amounts of the steering actuator and the brake actuator of the first vehicle M1 are set so that the first vehicle M1 stops on the shoulder of the lane L1.

[0039] Figure 4 And Figure 5 FIG. is a diagram for explaining another application example of the vehicle control system according to the embodiment. Figure 4 The premise of the example shown Figure 2 is common to the premise of the example shown in Figure 2 And Figure 4 The difference from Figure 4 is that the first vehicle M1 shown determines whether its own driving state is abnormal based on its own "driving environment information". The driving environment information of the first vehicle M1 includes the driving condition information of the first vehicle M1 acquired by the external sensors (radar sensors, cameras, etc.) provided in the control system 10. The driving environment information of the first vehicle M1 also includes the map information possessed by the first vehicle M1.

[0040] Based on the driving environment information of the first vehicle M1, it is "subjectively" determined whether the driving state of the first vehicle M1 is abnormal. Hereinafter, the abnormal driving determination of the first vehicle M1 performed by the control system 10 is also referred to as "subjective determination". The specific content of the subjective determination result (hereinafter, also referred to as the "subjective determination result".) RS is the same as the specific content of the objective determination result RO.

[0041] In Figure 5 the example shown, the subjective determination result RS is an abnormal determination result ANM. The first vehicle M1 (control system 10) that has received the objective determination result RO "comprehensively" determines its own abnormal driving based on the objective determination result RO and the subjective determination result RS. This comprehensive determination is performed, for example, according to whether the following Expression (2) of the determination index Z is satisfied.

[0042] Z = αX + βΣ(1 / Nro)Yi ≥ TH2......(2)

[0043] In Equation (2), the coefficients α and β are weight coefficients satisfying α + β = 1, which are preset respectively. The variable X represents X = 0 in the case of a normal determination result NM, and represents X = 1 in the case of an abnormal determination result ANM. The threshold value TH2 is a value satisfying 0.5 ≤ TH2 < 1.0, which is preset. The descriptions of Nro and the variable Yi are the same as those in Equation (1).

[0044] When it is determined that Equation (2) is satisfied, the control system 10 performs emergency vehicle control on the first vehicle M1. A specific example of the emergency vehicle control is the same as the example shown in Figure 2 and Figure 3 the example shown in

[0045] In another example of the comprehensive determination, the coefficients α and β of Equation (2) can also be changed. For example, when the operating state of the drive actuator (specifically, the electric throttle) of the first vehicle M1 deviates significantly from the normal operating state according to the driving condition information of the first vehicle M1 and this condition persists, the coefficient α can be increased (that is, the coefficient β can be decreased).

[0046] In still another example of the comprehensive determination, when it is known from the driving condition information obtained by the external sensor of the first vehicle M1 that the reverse driving state of the first vehicle M1 persists, the coefficient α can also be increased. If the coefficient α is increased, the degree of reflection of the subjective determination result RS in the determination of the abnormal driving of the first vehicle M1 itself is improved. Therefore, compared with before the coefficient α is increased, it is easier to perform the emergency vehicle control.

[0047] Thus, according to the embodiment, an objective determination is made in the control system 20 and the objective determination result RO is provided to the first vehicle M1. Then, based on this objective determination result RO, it is determined in the control system 10 whether the first vehicle M1 is driving abnormally. When a subjective determination is made in the control system 10, it is determined in the control system 10 whether the first vehicle M1 is driving abnormally based on the subjective determination result RS and the objective determination result RO.

[0048] Then, when it is determined that the first vehicle M1 is driving abnormally, the control system 10 performs emergency vehicle control on the first vehicle M1. Therefore, according to the embodiment, the determination of the abnormal driving of the first vehicle M1 itself can be made objective, thereby improving the driving safety of the first vehicle M1.

[0049] Hereinafter, the vehicle control system and the vehicle control method of the embodiment will be described in detail.

[0050] 2. Configuration Example of Vehicle Control System

[0051] 2-1. Overall Configuration Example

[0052] Figure 6 This is a block diagram showing a configuration example of a vehicle control system according to an embodiment. As Figure 6 shown, the vehicle control system 100 includes a control system 10 and a control system 20. The control system 10 is a control system mounted on the first vehicle M1. The control system 20 is a control system mounted on the second vehicle M2.

[0053] The control system 10 includes an external sensor 11, an internal sensor 12, a GNSS (Global Navigation Satellite System) receiver 13, and a map database 14. The control system 10 also includes an HMI (Human Machine Interface) unit 15, various actuators 16, a communication device 17, and a control device 18.

[0054] The external sensor 11 is a device that detects the conditions around the first vehicle M1. Examples of the external sensor 11 include a radar sensor and a camera. The radar sensor uses radio waves (e.g., millimeter waves) or light to detect objects around the first vehicle M1. The objects include static objects and dynamic objects. Examples of static objects include guardrails and buildings. Examples of dynamic objects include pedestrians, bicycles, motorcycles, and vehicles other than the first vehicle M1. The camera captures the conditions outside the first vehicle M1.

[0055] The internal sensor 12 is a device that detects the driving conditions of the first vehicle M1. Examples of the internal sensor 12 include a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor detects the driving speed of the first vehicle M1. The acceleration sensor detects the acceleration of the first vehicle M1. The yaw rate sensor detects the yaw rate of the center of gravity of the first vehicle M1 around the vertical axis.

[0056] The GNSS receiver 13 is a device that receives signals from three or more artificial satellites. The GNSS receiver 13 is also a device that acquires information on the position of the first vehicle M1. The GNSS receiver 13 calculates the position and posture (azimuth) of the first vehicle M1 based on the received signals.

[0057] The map database 14 is a database that stores map information. Examples of the map information include the position information of roads, the information on the shape of roads (e.g., the category of curves and straight lines), and the position information of intersections and structures. The map information also includes traffic control information. The map database 14 is formed in an in-vehicle storage device (e.g., a hard disk, a flash memory). The map database 14 may also be formed in a computer of a facility (e.g., a management center) that can communicate with the first vehicle M1.

[0058] Information on the surrounding situation acquired by the external sensor 11, information on the driving situation acquired by the internal sensor 12, information on the position and orientation acquired by the GNSS receiver 13, and map information are included in the "driving environment information" of the first vehicle M1.

[0059] The HMI unit 15 is an interface for providing information to the driver of the first vehicle M1 and receiving information from the driver. The HMI unit 15 includes, for example, an input device, a display device, a speaker, and a microphone. Examples of the input device include a touch panel, a keyboard, a switch, and a button. Among the information provided to the driver, there is information on the driving situation of the first vehicle M1 and V2V information (for example, ID information, driving situation information). Providing information to the driver is performed using the display device and the speaker. Receiving information from the driver is performed using the input device and the microphone. The setting regarding whether to accept the objective determination result RO received through V2V is made through this reception.

[0060] The various actuators 16 are actuators included in the driving device of the first vehicle M1. Examples of the various actuators 16 include a drive actuator, a brake actuator, and a steering actuator. The drive actuator drives the first vehicle M1. The brake actuator applies a braking force to the first vehicle M1. The steering actuator steers the tires of the first vehicle M1.

[0061] The communication device 17 includes a transmission antenna and a reception antenna for performing wireless communication with a second vehicle M2 existing in the vicinity of the first vehicle M1. The wireless communication is performed, for example, using a directional beam composed of narrow beams formed by the directional transmission antenna. In the case of performing V2V using narrow beams, a synchronization system that uses a pilot signal for beam alignment may also be used. The frequency of the wireless communication may be, for example, several hundred MHz lower than 1 GHz or a high frequency band of 1 GHz or higher.

[0062] In the case of performing V2V using narrow beams, a pilot signal may also be used to synchronize the beams. For example, a pilot signal is transmitted from the first vehicle M1 to the surrounding vehicles, and the surrounding vehicles sense the pilot signal of the narrow beam in a wide beam mode or a non-directional beam mode, and adjust the direction of the narrow beam of the surrounding vehicles based on the sensing result.

[0063] The control device 18 is composed of a microcomputer having at least one processor 18a and at least one memory 18b. At least one program is stored in the memory 18b. Various information including V2V information and driving environment information is also stored in the memory 18b. The program stored in the memory 18b is read out and executed by the processor 18a, whereby various functions of the control device 18 are realized. This function also includes the function of determining the abnormal driving of the first vehicle M1 described above. This function also includes the function of performing emergency vehicle control using various actuators 16.

[0064] The control system 20 includes an external sensor 21, an internal sensor 22, a GNSS receiver 23, and a map database 24. The control system 20 also includes an HMI unit 25, various actuators 26, a communication device 27, and a control device 28. That is to say, the basic configuration of the control system 20 is common to the basic configuration of the control system 10. Therefore, for examples of each component of the control system 20, please refer to the description of the control system 10.

[0065] It should be noted that the configuration of the control system 20 is not limited to Figure 6 the example shown in, and some components can also be omitted. For example, the control system 20 may not include the GNSS receiver 23 and the map database 24.

[0066] 2-2. Example of processing performed in the control system 20

[0067] Figure 7 is a flowchart for explaining the flow of the processing example performed by the control device 28 (processor 28a). Figure 7 The routine shown is repeatedly executed at a prescribed control cycle.

[0068] In Figure 7 the routine shown, first, various information is acquired (step S11). As the various information acquired, V2V information and driving environment information can be exemplified. As the V2V information, the ID information of the first vehicle M1 can be exemplified. The driving condition information of the first vehicle M1 may also be included in the V2V information. As the driving environment information, the surrounding condition information from the external sensor 21, the driving state information from the internal sensor 22, the information on the position and posture of the second vehicle M2 acquired by the GNSS receiver 23, and the map information from the map database 24 can be exemplified.

[0069] Subsequent to step S11, an objective determination process (step S12) is performed. The objective determination process is carried out based on the driving environment information obtained in step S11. For example, based on the surrounding condition information (road marking information) or the map information (legal speed information), the legal speed of the lane in which the first vehicle M1 is currently traveling is identified. Subsequently, based on the surrounding condition information, the traveling speed of the first vehicle M1 is calculated. Then, it is determined whether the calculated traveling speed significantly exceeds the legal speed. Thus, the out-of-control state of the first vehicle M1 is determined.

[0070] In another example, based on the surrounding condition information (traveling condition information), the acceleration Ay in the lateral (Y direction) of the first vehicle M1 is calculated. Then, it is determined whether the increase and decrease of the acceleration Ay are repeated within a short period. Thus, the snake-like state of the first vehicle M1 is determined.

[0071] In yet another example, based on the surrounding condition information (traveling condition information) and the map information, the lane in which the first vehicle M1 is currently traveling is identified. Then, based on the surrounding condition information (traffic sign information attached to the lane in which the first vehicle M1 is currently traveling), it is determined whether the traveling direction of the first vehicle M1 is consistent with the traveling direction indicated by the lane in which the first vehicle M1 is currently traveling. Thus, the reverse-travel state of the first vehicle M1 is determined.

[0072] In yet another example, based on the surrounding condition information (traveling condition information) and the map information, the lane in which the first vehicle M1 is currently traveling is identified. In addition, based on the surrounding condition information (traveling condition information), the acceleration Ax in the traveling direction (X direction) of the first vehicle M1 is calculated. In addition, based on the surrounding condition information (identification information of the traffic signal), the indication display of the nearest traffic signal in the traveling direction of the first vehicle M1 is detected or estimated. Then, based on the signal display and the trend of the acceleration Ax, the signal-ignoring state of the first vehicle M1 is determined. For example, in the case where the signal display is a stop display (red) but the acceleration Ax is in an increasing trend, it is determined that the traveling state conforms to the signal-ignoring state.

[0073] Subsequent to step S12, an objective determination result RO is generated (step S13). The objective determination result RO is transmitted to the communication device 27 as V2V information sent to the first vehicle M1.

[0074] 2 - 3. Examples of processes performed in the control system 10

[0075] Figure 8 It is a flowchart for explaining the flow of an abnormal traveling determination process example performed by the control device 18 (processor 18a). Figure 8 The illustrated routine is repeatedly executed at a prescribed control cycle.

[0076] In Figure 8In the illustrated routine, first, V2V information is acquired (step S21). As the acquired V2V information, the ID information of the second vehicle M2 and the objective determination result RO obtained by the second vehicle M2 can be exemplified. The driving condition information of the second vehicle M2 may also be included in the V2V information.

[0077] Following the process of step S21, it is determined whether the first vehicle M1 is driving abnormally (step S22). In the process of step S22, the objective determination result RO and the reception total number Nro acquired in step S21 are substituted into the above formula (1) to calculate the determination index Z. Then, when it is determined that the above formula (1) is not satisfied, the process ends.

[0078] When it is determined in the process of step S22 that the above formula (1) is satisfied, emergency vehicle control of the first vehicle M1 is executed (step S23). As the emergency vehicle control, deceleration driving control and avoidance driving control can be exemplified. When executing the emergency vehicle control, it is desirable to select deceleration driving control or avoidance driving control according to the content of the abnormal driving. For example, when the driving state is in an out-of-control state or a signal-ignoring state, deceleration driving control is selected. When the driving state is in a reverse driving state or a serpentine driving state, avoidance driving control is selected. It should be noted that the content of the abnormal driving is presumed based on the driving environment information of the first vehicle M1 acquired by the external sensor 11 etc. provided in the control system 10.

[0079] Figure 9 is a flowchart for explaining the flow of another abnormal driving determination processing example performed by the control device 18 (processor 18a). It is repeatedly executed at a prescribed control cycle Figure 9 instead of the Figure 8 illustrated routine.

[0080] In Figure 9 the illustrated routine, first, V2V information is acquired (step S31). The processing content of step S31 is the same as the processing content of step S21 described in Figure 8 .

[0081] Following the process of step S31, the driving environment information of the first vehicle M1 is acquired (step S32). This driving environment information is acquired by the external sensor 11 etc. provided in the control system 10.

[0082] Following the process of step S32, subjective determination processing is performed (step S33). The subjective determination processing is performed based on the driving environment information acquired in step S32. The content of the subjective determination processing is basically the same as the content of the objective determination processing.

[0083] Following the processing of step S33, it is determined whether the first vehicle M1 is driving abnormally (step S34). In the processing of step S34, the objective determination result RO, the reception total number Nro, and the result of the subjective determination process performed in step S33 (that is, the subjective determination result RS) obtained in step S31 are substituted into the above formula (2) to calculate the determination index Z. Then, when it is determined that the above formula (2) is not satisfied, the processing ends.

[0084] Following the processing of step S34, when it is determined that the above formula (2) is satisfied, emergency vehicle control of the first vehicle M1 is executed (step S35). The processing content of step S35 is the same as the processing content of step S23 described in Figure 8 above.

[0085] 3. Effects

[0086] According to the embodiment described above, the objective determination process is performed in the control device 28 (processor 28a), and the objective determination result RO is provided to the first vehicle M1. Then, based on the objective determination result RO, it is determined in the control device 18 (processor 18a) whether the first vehicle M1 is driving abnormally. When the subjective determination process is performed in the control device 18, it is determined whether the first vehicle M1 is driving abnormally based on the subjective determination result RS and the objective determination result RO.

[0087] Then, when it is determined that the first vehicle M1 is driving abnormally, the emergency vehicle control of the first vehicle M1 is performed by the control device 18 (processor 18a). Therefore, according to the embodiment, the determination of its own abnormal driving by the first vehicle M1 can be made objective, thereby improving the driving safety of the first vehicle M1.

Claims

1. A vehicle control system utilizes communication between a first vehicle and a second vehicle. The vehicle control system is characterized in that the first vehicle includes: a communication device for transmitting and receiving vehicle-to-vehicle communication information; a memory storing the vehicle-to-vehicle communication information; and a processor for performing an abnormal driving determination process for determining abnormal driving of the first vehicle. the second vehicle includes: a communication device for transmitting and receiving the vehicle-to-vehicle communication information; a memory storing the vehicle-to-vehicle communication information and driving environment information of the second vehicle; and a processor for performing an objective determination process for determining the abnormal driving. In the objective determination process, the processor of the second vehicle determines whether the first vehicle is driving abnormally based on the driving environment information of the second vehicle. the processor of the second vehicle generates an objective determination result representing the result obtained through the objective determination process as the vehicle-to-vehicle communication information to be sent to the first vehicle, and sends the objective determination result to the communication device of the second vehicle. In the abnormal driving determination process, the processor of the first vehicle determines whether the first vehicle is driving abnormally based on the objective determination result. when the processor of the first vehicle determines that the first vehicle is driving abnormally, the processor performs emergency vehicle control of the first vehicle. the driving environment information of the first vehicle is also stored in the memory of the first vehicle. the abnormal driving determination process includes a subjective determination process for subjectively determining abnormal driving of the first vehicle. In the subjective determination process, the processor of the first vehicle determines whether the first vehicle is driving abnormally based on the driving environment information of the first vehicle. In the abnormal driving determination process, the processor of the first vehicle comprehensively determines whether the first vehicle is driving abnormally based on the objective determination result and a subjective determination result representing the result obtained through the subjective determination process. In the abnormal driving determination process, the processor of the first vehicle performs a comprehensive determination of the abnormal driving based on a calculation formula expressed by using the subjective determination result, the objective determination result, and a weight coefficient of the subjective determination result and the objective determination result. the weight coefficient is changed based on the driving environment information of the first vehicle.

2. A vehicle control method utilizes communication between a first vehicle and a second vehicle. The first vehicle includes: a communication device for transmitting and receiving vehicle-to-vehicle communication information; a memory storing the vehicle-to-vehicle communication information; and a processor for performing an abnormal driving determination process for determining abnormal driving of the first vehicle. The second vehicle includes: a communication device for transmitting and receiving the vehicle-to-vehicle communication information; a memory storing the vehicle-to-vehicle communication information and driving environment information of the second vehicle; and a processor for performing an objective determination process for determining the abnormal driving. The vehicle control method is characterized in that In the objective determination process, the processor of the second vehicle obtains the driving environment information of the second vehicle. The processor of the second vehicle performs the objective determination process based on the driving environment information of the second vehicle. The processor of the second vehicle generates an objective determination result representing the result obtained through the objective determination process as the vehicle-to-vehicle communication information to be sent to the first vehicle, and sends the objective determination result to the communication device of the second vehicle. In the abnormal driving determination process, The processor of the first vehicle receives the objective determination result. The processor of the first vehicle determines whether the first vehicle is driving abnormally based on the objective determination result. When it is determined that the first vehicle is driving abnormally, the processor of the first vehicle performs emergency vehicle control of the first vehicle. The driving environment information of the first vehicle is also stored in the memory of the first vehicle. The abnormal driving determination process includes a subjective determination process for subjectively determining the abnormal driving of the first vehicle. In the subjective determination process, the processor of the first vehicle determines whether the first vehicle is driving abnormally based on the driving environment information of the first vehicle. In the abnormal driving determination process, the processor of the first vehicle comprehensively determines whether the first vehicle is driving abnormally based on the objective determination result and a subjective determination result representing the result obtained through the subjective determination process. In the abnormal driving determination process, The processor of the first vehicle performs a comprehensive determination of the abnormal driving based on a calculation formula represented by using the subjective determination result, the objective determination result, and a weight coefficient of the subjective determination result and the objective determination result. The weight coefficient is changed based on the driving environment information of the first vehicle.

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