Action plan device, vehicle control system, and action plan generation method

Abstract

To provide an action plan device, a vehicle control system, and an action plan generation method for reducing obstruction to the progression of other traffic participants by determining whether or not to stop immediately after detecting abnormality.SOLUTION: The action plan device comprises: a stoppage request determination unit that determines the occurrence of abnormality on the basis of acquired obstacle information, self-position information, road information, and vehicle state information, and outputs an emergency stoppage request or a stoppage request; and an action plan generation unit that generates an action plan that prompts to stop immediately when an emergency stoppage request is outputted, and generates an action plan that prompts to avoid stopping in an area where the moving vehicle hinders the progression of other traffic participants when a stoppage request is outputted.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present application relates to a behavior planning device, a vehicle control system, and a behavior plan generating method. [Background technology]

[0002] In recent years, there has been active development of autonomous driving technology for automobiles, and in addition to providing driving assistance to users, technologies that can drive autonomously without any user intervention are attracting attention. When autonomous driving occurs, if an event occurs that makes it impossible to drive safely, such as a failure of some of the sensors that detect the vehicle's surrounding environment, it is necessary for the vehicle to stop in a situation where the risk of an accident is low without interfering with other traffic participants.

[0003] For example, in Patent Document 1, when a fault occurs in a recognition device or the like and information about the outside world cannot be acquired, a driving trajectory is generated based on past outside world recognition information, and the vehicle transitions to a fault response action. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-38689 A Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, if an abnormality occurs in the vehicle system during the transition to the fault response action, the transition to the fault response action may be interrupted. If the transition to the fault response action is interrupted in an area where roads intersect, such as an intersection, it will hinder the progress of other traffic participants, which is a challenge for the advancement of automated driving.

[0006] The present application discloses technology for solving the problems described above, and aims to provide a behavior planning device, a vehicle control system, and a behavior plan generation method for reducing hindrance to the progress of other traffic participants by determining whether to immediately stop when an abnormality is detected. [Means for solving the problem]

[0007] The behavior planning device disclosed in the present application is Obstacle information around the moving object acquired by the obstacle information acquisition unit; Position information of the moving object acquired by a self-position acquisition unit; Road information around the moving object acquired by a road information acquisition unit; Obstacle information around the roadside acquired by the roadside information acquisition unit, and A behavior planning device to which vehicle state information including a control state of the moving object acquired by a vehicle state information acquisition unit is input, a stop request determination unit that determines whether to output an emergency stop request for the moving body when it is determined that an abnormality has occurred in at least one of the obstacle information acquired by the obstacle information acquisition unit, the position information of the moving body acquired by the self-position acquisition unit, the road information acquired by the road information acquisition unit, the obstacle information acquired by the roadside information acquisition unit, and the vehicle state information acquired by the vehicle state information acquisition unit; and a behavior plan generating unit that generates a behavior plan for the moving object, The stop request determination unit When an abnormality is detected, When a preset emergency stop request output condition is satisfied, an emergency stop request is output. If the output condition is not satisfied, a stop request is output. The action plan generation unit generating an action plan for immediately stopping the vehicle when an emergency stop request is output from the stop request determination unit; When a stop request is output from the stop request determination unit, an action plan is generated to avoid the moving body from stopping in an area that would hinder the progress of other traffic participants. Effect of the Invention

[0008] According to the present application, when an abnormality is detected, it is possible to generate an action plan for reducing the disruption to the progress of other traffic participants by determining whether or not to stop immediately. [Brief description of the drawings]

[0009] [Figure 1] 1 is a functional block diagram showing a configuration of a behavior planning apparatus and a vehicle control system according to a first embodiment. [Diagram 2] 4 is a diagram showing an example of an obstacle detection range by an obstacle information detection unit mounted on a vehicle; FIG. [Diagram 3] FIG. 2 is a diagram for explaining the operation of the behavior planning device according to the first embodiment. [Figure 4] 4 is a flowchart showing an operation of the behavior planning device according to the first embodiment. [Figure 5A] 10 is a flowchart showing an operation of the behavior planning device according to the second embodiment. [Figure 5B] 10 is a flowchart showing an operation of the behavior planning device according to the second embodiment. [Figure 6] FIG. 11 is a diagram for explaining the operation of the behavior planning device according to the third embodiment. [Figure 7A] 13 is a flowchart showing an operation of the behavior planning device according to the third embodiment. [Figure 7B] 13 is a flowchart showing an operation of the behavior planning device according to the third embodiment. [Figure 8] 1 is a diagram showing a hardware configuration of a vehicle control system according to first to third embodiments. [Figure 9] FIG. 4 is a diagram illustrating another example of the hardware configuration of the vehicle control system according to the first to third embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the behavior planning device, vehicle control system, and behavior plan generating method disclosed in the present application will be described with reference to the drawings. In the following embodiments, an automobile is taken as an example of a moving body to which the behavior planning device and vehicle control system are applied, and an example of generating a behavior plan for the vehicle is shown. The moving body is assumed to be capable of autonomous driving equivalent to level 3 or level 4 defined by the Society of Automotive Engineers (SAE International), for example. The moving body is assumed to have acquired a driving route to a destination in advance and to drive along the route. In addition, the same reference numerals in each drawing indicate the same or corresponding parts. Therefore, detailed explanations thereof may be omitted to avoid duplication.

[0011] The drawings are schematic, and for the convenience of explanation, configurations are omitted or simplified as appropriate. Furthermore, the size and positional relationship of the configurations shown in different drawings are not necessarily described accurately, and may be changed as appropriate. Furthermore, hatching may be added to drawings such as plan views that are not cross-sectional views, in order to make it easier to understand the contents of the embodiment.

[0012] Embodiment 1 The behavior planning device, the vehicle control system, and the behavior plan generating method according to the first embodiment will be described below with reference to the drawings. <Device configuration> FIG. 1 is a functional block diagram showing the configuration of a behavior planning apparatus and a vehicle control system according to the first embodiment. In FIG. 1, the vehicle control system 1000 includes a behavior planning apparatus 100. The behavior planning apparatus 100 is an apparatus for planning the behavior of the host vehicle, and includes a stop request determination unit 120 and a behavior plan generation unit 140 that performs calculations so as to generate behavior that reduces the impact on the surroundings. The vehicle control system 1000 includes an information acquisition unit 300 that acquires information necessary for generating a behavior plan for the host vehicle in the behavior planning apparatus 100 and acquires obstacle information around the host vehicle. The information acquisition unit 300 includes an obstacle information acquisition unit 10, a road information acquisition unit 20, a self-position acquisition unit 30 that acquires position information of the host vehicle, a vehicle state information acquisition unit 40 that acquires information about the state of the host vehicle from each sensor mounted on the vehicle, and a roadside information acquisition unit 50 that acquires information from a roadside unit RU. Furthermore, the vehicle control system 1000 includes a vehicle control unit 200, and controls each actuator that drives the vehicle, such as a brake and a steering wheel, based on the behavior plan generated by the behavior planning apparatus 100.

[0013] In FIG. 1, the obstacle information acquisition unit 10, the road information acquisition unit 20, the self-position acquisition unit 30, the vehicle state information acquisition unit 40, and the roadside information acquisition unit 50 may be included in the behavior planning apparatus 100.

[0014] The obstacle information acquisition unit 10 acquires information about obstacles present around the host vehicle, which are detected by the obstacle information detection unit 12 .

[0015] The obstacle information detection unit 12 detects obstacle information. The obstacle is, for example, another vehicle, a pedestrian, a bicycle, a motorcycle, or other traffic participant present around the vehicle. The obstacle information detection unit 12 is, for example, at least one of a camera, a radar, a LiDAR (Light Detection And Ranging), and a sonar sensor (ultrasonic sensor) provided on the vehicle. The obstacle information detection unit 12 may output the obstacle present around the vehicle to the obstacle information acquisition unit 10 as obstacle information linked to the type of traffic participant classified as another vehicle, a pedestrian, a bicycle, a motorcycle, or the like.

[0016] The camera is installed in a position where it can capture images of the front, sides, and rear of the vehicle, and from the captured images it obtains information indicating the environment in which the vehicle is located, such as information about the lane and obstacles ahead of the vehicle.

[0017] The radar irradiates a radar beam ahead of the vehicle and detects the reflected waves to measure the relative distance and relative speed of an obstacle present ahead of the vehicle, and outputs the measurement results.

[0018] LiDAR detects the position of objects by shining a laser around the vehicle and detecting the time difference between when the laser reflects off nearby objects and when it returns.

[0019] A sonar sensor detects the position and distance of an object by emitting ultrasonic waves to the area around the vehicle and detecting the time difference between when the waves reflect off the surrounding objects and when they return.

[0020] FIG. 2 is a diagram showing the detection range of each obstacle information detection unit 12 in an example in which a plurality of the above-mentioned obstacle information detection units 12 are combined and arranged on a vehicle. In FIG. 2, seven obstacle information detection units 12, from obstacle information detection unit 12a to obstacle information detection unit 12g, are mounted on the host vehicle OV, and three obstacle information detection units 12a, 12b, and 12g are arranged in the front, two obstacle information detection units 12c and 12f are arranged on the sides, and two obstacle information detection units 12d and 12e are arranged in the rear. The detection ranges of each obstacle information detection unit 12 are shown by fan-shaped broken lines, and the host vehicle OV can detect obstacles in the detection ranges SN1, SN2, and SN7 in the front, the detection ranges SN3 and SN6 on the sides, and the detection ranges SN4 and SN5 in the rear. Although not limited to seven obstacle information detection units 12, it is desirable to be able to set the detection range of obstacles so as to cover the periphery of the host vehicle OV.

[0021] The road information acquisition unit 20 acquires information about the roads around the vehicle from a road information detection unit (not shown). The road information acquisition unit 20 includes a map information acquisition unit that has acquired map data of the planned driving route of the vehicle in advance, and acquires road information around the vehicle based on the vehicle position information detected by the vehicle position detection unit 32.

[0022] Here, the map data includes road information such as the center line of the lane in which the vehicle is traveling, lane width information, stop line information at intersections, information on the number of branches at intersections such as T-junctions and crossroads, stop line information at intersections, and information on the start position of diverging routes. Furthermore, the road information included in the map data may be obtained from the surrounding structure detection results obtained from at least one of a camera, a radar, a LiDAR, and a sonar sensor, which are the obstacle information detection unit 12 provided in the vehicle.

[0023] In order to identify the position of the vehicle, the vehicle is equipped with a GNSS (Global Navigation Satellite System) sensor as a self-position detection unit 32. A GNSS antenna is connected to the GNSS sensor, which receives positioning signals from positioning satellites orbiting in a satellite orbit, analyzes the received positioning signals, and outputs information on the phase center of the GNSS antenna (latitude, longitude, altitude, direction, etc.) to the self-position acquisition unit 30.

[0024] In addition, the vehicle's own position, which is its own vehicle position information, may be obtained not only by a method using a GNSS sensor, but also by SLAM (Simulataneous Localization and Mapping: simultaneous execution of self-position estimation and environmental map creation) technology using surrounding structure detection results obtained from at least one of a camera, radar, LiDAR, and sonar sensor.

[0025] For example, an obstacle information detector (hereinafter referred to as a roadside unit) provided on the roadside includes at least one of a camera, a radar, a LiDAR, and a sonar sensor. The roadside information acquisition unit 50 acquires information about the surroundings of the roadside detected by the roadside unit RU as obstacle information via wireless communication. Note that the roadside unit may be provided not only on the roadside but also on the road such as the roadway, road shoulder, or sidewalk, or may be provided on a building or utility pole near the road. Information about the surroundings of the roadside may be acquired from a remote control system or the like.

[0026] The vehicle state information acquisition unit 40 acquires the vehicle state from the vehicle state of the host vehicle detected by the vehicle state detection unit 42 and abnormality detection from the vehicle abnormality detection unit 41. The vehicle state detection unit 42 detects the vehicle state from each sensor mounted on the host vehicle, such as a vehicle speed sensor, a gyro sensor, a steering angle sensor, an acceleration sensor, etc. Here, the vehicle abnormality detection unit 41 detects abnormalities that may impede vehicle travel, such as abnormalities in actuators such as the steering, brakes, and drive motor of the vehicle, and abnormalities in the power supply system.

[0027] In FIG. 1, the obstacle information acquisition unit 10, the road information acquisition unit 20, the self-position acquisition unit 30, the vehicle state information acquisition unit 40, and the roadside information acquisition unit 50 are shown as not being included in the behavior planning device 100. This configuration is suitable for remote control of the vehicle by the control. As an example, the components consisting of the stop request determination unit 120 and the behavior plan generation unit 140 are provided separately from the components consisting of the obstacle information acquisition unit 10, the road information acquisition unit 20, the self-position acquisition unit 30, the vehicle state information acquisition unit 40, and the roadside information acquisition unit 50. Specifically, the obstacle information acquisition unit 10, the road information acquisition unit 20, the self-position acquisition unit 30, the vehicle state information acquisition unit 40, and the roadside information acquisition unit 50 are provided in the vehicle, and the stop request determination unit 120 and the behavior plan generation unit 140 are provided on the control side as the behavior planning device 100. This is not limited to the above, and may be reversed, for example.

[0028] <Functions of the behavior planning device 100> The stop request determination unit 120 detects an abnormality based on the obstacle information acquired from the obstacle information acquisition unit 10, the obstacle information acquired from the roadside information acquisition unit 50, the self-position information acquired from the self-position acquisition unit 30, and the vehicle status information acquired from the vehicle status information acquisition unit 40. When an abnormality is detected, it outputs an emergency stop request or a stop request at a position that will have minimal impact on the surroundings.

[0029] Here, an example of a method for detecting an abnormality occurring in the obstacle information will be described. First, an example of an abnormality in the obstacle information acquired from the roadside information acquisition unit 50 will be described. An abnormality in the obstacle information acquired from the roadside information acquisition unit 50 is a communication interruption, and the presence or absence of this communication interruption can be determined by providing the roadside unit with a signal that counts up at regular intervals to the roadside information acquisition unit 50. When an event in which no count-up at regular intervals occurs is detected, this can be said to mean that communication from the roadside unit RU to the roadside information acquisition unit 50 has been interrupted. As described above, the stop request determination unit 120 determines a communication interruption based on the obstacle information acquired from the roadside information acquisition unit 50, and detects an abnormality.

[0030] Similarly, for abnormalities in the obstacle information acquired from the obstacle information detection unit 12 provided in the vehicle, abnormalities in the self-position information acquired from the self-position acquisition unit 30, and abnormalities in the vehicle status information acquired from the vehicle status information acquisition unit 40, it is possible to determine communication interruption and detect abnormalities by using a signal that counts up at regular intervals. It is also assumed that the detection range of the obstacle information detection unit 12 will decrease. The presence or absence of a decrease in the detection range can be determined by checking whether snow or the like has adhered near the sensor, which is the obstacle information detection unit 12, and whether the measured distance continues to be detected as being equal to or less than a predetermined threshold for a predetermined period of time. In other words, when snow or the like has adhered so as to cover a portion of the sensor, the detection range is reduced from that in normal times, making it possible to detect an abnormality. In addition, when a portion of the imaging element of the camera is damaged, and there is no color in some of the pixels of the camera image, or there is no color change for a predetermined period of time, the detection range is reduced, making it possible to detect an abnormality.

[0031] Next, a condition for outputting an emergency stop request or a request to stop at a position with minimal impact on the surroundings will be described. First, when an abnormality occurs and the conditions for outputting an emergency stop request are not met, a stop request is output at a position that will have minimal impact on the surroundings (hereinafter referred to as a "stop request").

[0032] There are two conditions for outputting an emergency stop request: (1) The first case is when, when an abnormality occurs, continuing autonomous driving cannot avoid the vehicle stopping in an area that would have a significant impact on other traffic participants. in particular, (1a) When the vehicle abnormality detection unit 41 detects an abnormality that makes it impossible to control the vehicle itself, (1b) When the obstacle information detection unit 12 and the roadside unit RU cannot detect obstacle information ahead of the vehicle, and the obstacle information acquisition unit 10 and the roadside information acquisition unit 50 cannot acquire the obstacle information, (1c) If bad weather is detected, (1d) When there is an obstacle ahead and you cannot pass (for example, when there is an obstacle inside an intersection or at the exit of an intersection), And so on. The weather information can be obtained from the obstacle information detection unit 12, the roadside unit RU, or a remote control system that communicates with the mobile object. Also, a weather sensor may be installed in the vehicle.

[0033] (2) The second case is when an abnormality occurs in a location other than the road information acquisition unit 20 and the vehicle's own position acquisition unit 30, and the vehicle stops on the spot, but this has little effect on other traffic participants. in particular, (2a) If it is determined that the vehicle is within a stopping permission area acquired from the road information acquisition unit 20, (2b) In an area where there is a low risk of collision with vehicles traveling on intersecting roads (e.g., near the entrance or exit of an intersection), (2c) When the road is wide enough (for example, wide enough for other vehicles to overtake), etc.

[0034] Here, the area that has a large impact on other traffic participants refers to an area that would hinder the progress of other traffic participants if the vehicle were to stop in that position, specifically, the area inside the stop line at an intersection, the start of a merging point on an expressway, and the like, i.e., "areas where roads intersect." Hereinafter, "areas that have a large impact on other traffic participants" will be read as "areas that hinder the progress of other traffic participants" and used synonymously. Also, "areas that have a small impact on other traffic participants" will be read as "areas that do not hinder the progress of other traffic participants" and used synonymously.

[0035] The action plan generating unit 140 generates an action plan to be executed by the host vehicle in response to the emergency stop request or stop request output from the stop request determining unit 120 . When an emergency stop request is input from the stop request determination unit 120, an action plan for immediately stopping the vehicle is generated. When a stop request is input, an action plan is generated to avoid the vehicle stopping in an area that would hinder the progress of other traffic participants, based on the obstacle information output from the obstacle information acquisition unit 10, the road information output from the road information acquisition unit 20, the vehicle's own position output from the self-position acquisition unit 30, and the obstacle information output from the roadside information acquisition unit 50.

[0036] The behavior plan of the vehicle generated by the behavior plan generating unit 140 specifically includes a target route, a target speed, and a target position when the vehicle follows the target. It may also be information indicating upper and lower limits of acceleration when the vehicle travels, and a steering angle for following the target route.

[0037] Next, a method for calculating the stopping position of the vehicle in order to execute an action plan in the action plan generating unit 140 to avoid the vehicle stopping in an area that would hinder the progress of other traffic participants will be described.

[0038] Possible methods for calculating the stopping position include a method in which the current position is calculated as the stopping position as is, or a method in which the stopping position is calculated using the deceleration that the vehicle can achieve when stopping from its current vehicle speed.

[0039] Whether or not the calculated stopping position of the vehicle is within an area that will hinder the progress of other traffic participants is determined based on road information acquired by the road information acquisition unit 20.

[0040] Next, an example of a method for determining whether or not the host vehicle stops in an area having a high impact on other traffic participants will be described with reference to Fig. 3. Fig. 3 is a diagram for explaining the operation of the behavior planning apparatus 100 according to the first embodiment. Fig. 3 shows a state in which the host vehicle OV, which keeps to the left, is approaching an intersection, and a rectangular area indicated by dashed lines connecting the stop lines SL1, SL2, SL3, and SL4 of the lanes that make up the intersection is the intersection area CNF. Here, the inside of the stop lines SL1, SL2, SL3, and SL4 of the intersection, that is, the area CNF, is considered to be an area having a high impact on other traffic participants, that is, an area that hinders the progress of other traffic participants. A roadside unit RU installed on the roadside can detect an obstacle in an area RUA indicated by a dotted sector.

[0041] First, the road information acquisition unit 20 inputs position information of the stop lines SL1, SL2, SL3, and SL4 that form an intersection into the behavior plan generation unit 140. By connecting the position information of the stop lines SL1, SL2, SL3, and SL4, an area CNF expressed by a rectangle CNF can be generated. Then, if the stopping position of the host vehicle OV is inside the area CNF, it is determined that the host vehicle OV will stop in an area that will hinder the progress of other traffic participants.

[0042] Next, the stopping position of the host vehicle OV is calculated. Since center line information of the lane on which the host vehicle is traveling is acquired from the road information acquisition unit 20, if that information is taken as a straight path STR of a target route to be followed by the host vehicle, the stopping position of the host vehicle OV is expressed as a stopping position SP on the straight path STR in Fig. 3. The stopping position SP of the host vehicle OV is calculated using the deceleration of the host vehicle OV on the straight path STR.

[0043] In Figure 3, the position of the center of gravity of the host vehicle OV when it is stopped is represented by position SP, and if this position is within the intersection area CNF, it is determined that the host vehicle OV will enter an area that will have a high impact on other traffic participants when it is stopped. The stop position SP may be any position that allows identification of the host vehicle OV, such as the leading or trailing end position of the host vehicle OV. Whether the host vehicle OV is within the area CNF may also be determined by generating a rectangle (simulating the external shape of the host vehicle) that takes into account the size of the host vehicle OV from the position (stop position), and if a part of the rectangle is within the intersection area CNF, it may be determined that the host vehicle OV will enter an area that will have a high impact on other traffic participants when it stops.

[0044] In the above description, a method of generating an intersection area CNF based on the position information of the stop line of the intersection input from the road information acquisition unit 20 as an area that hinders the progress of other traffic participants has been shown. However, this is not limited to the above. As an area that has a high impact on other traffic participants, an area CNF may be directly input to the action plan generation unit 140 based on the intersection information held by the road information acquisition unit 20. Furthermore, by using the diverging start position information held by the road information acquisition unit 20, an area including the diverging start position can be used as the area CNF, and an area CNF that is not limited to an intersection area can be set.

[0045] <Operations of vehicle control system 1000 and behavior planning device 100> Next, the operation of the vehicle control system 1000 and the behavior planning apparatus 100 according to the first embodiment will be described with reference to the flowchart in Fig. 4. The process of the flowchart in Fig. 4 is repeatedly executed while the host vehicle is traveling. Each step in Fig. 4 will be described in association with each functional unit shown in the functional block diagram in Fig. 1.

[0046] First, in step S101, the obstacle information acquisition unit 10 acquires information about obstacles present around the host vehicle, which is output from the obstacle information detection unit 12. In step S 102 , the self-position acquisition unit 30 acquires the self-position output from the self-position detection unit 32 .

[0047] In step S103, the road information acquisition unit 20 acquires road information output from a road information detection unit (not shown) or road information from a map information acquisition unit. In step S104, the roadside information acquisition unit 50 acquires obstacle information about the roadside surroundings outputted from the roadside unit RU.

[0048] In step S105, the vehicle state information acquisition unit 40 acquires information on the vehicle state from each sensor mounted on the vehicle and abnormality detection information from the vehicle abnormality detection unit 41.

[0049] In step S106, the stop request determination unit 120 detects whether or not an abnormality has occurred in any of the information based on the obstacle information around the vehicle output from the obstacle information acquisition unit 10, the obstacle information around the roadside output from the roadside information acquisition unit 50, the road information acquired from the road information acquisition unit 20, the self-position information which is the position information of the moving body acquired from the self-position acquisition unit 30, and the vehicle state information acquired from the vehicle state information acquisition unit 40, and outputs an emergency stop request or a stop request when an abnormality is detected. When an abnormality is detected (Yes in step S106), the process proceeds to step S107. When an abnormality is not detected, the emergency stop request or the stop request is not output (No in step S105), and the process proceeds to step S110.

[0050] When the process proceeds to step S107, the stop request determination unit 120 determines whether or not the condition for outputting an emergency stop request is satisfied. When the condition for outputting an emergency stop request is satisfied (Yes in step S107), an emergency stop request is output and the process proceeds to step S107. When the condition for outputting an emergency stop request is not satisfied (No in step S105), a stop request is output and the process proceeds to step S109.

[0051] If the process proceeds to step S108, the action plan generation unit 140 outputs a command to stop the vehicle immediately because the vehicle cannot continue autonomous driving or the stopping position of the vehicle is in an area that will not hinder the progress of other traffic participants.

[0052] When the process proceeds to step S109, the action plan generating unit 140 generates an action plan that prevents the host vehicle from stopping in an area that would impede the progress of other traffic participants.

[0053] When the process proceeds to step S110, the action plan generating unit 140 outputs a command to continue following the route on which the host vehicle is currently traveling. The output of the action plan generating unit 140 based on steps S108 to S110 is input to the vehicle control unit 200, which controls each actuator (not shown) that drives the vehicle, such as the brakes, steering wheel, etc.

[0054] As described above, the behavior planning device 100 generates a behavior plan to stop the vehicle immediately if it is determined that an emergency stop is necessary when an abnormality occurs, and to avoid stopping in an area that would otherwise hinder the progress of other traffic participants. Also, if no abnormality occurs, the behavior plan is generated to continue following the currently traveling route.

[0055] As described above, according to the first embodiment, the behavior planning device includes a stop request determination unit and a behavior plan generation unit, and the stop request determination unit detects an abnormality based on each acquired information, and when an abnormality is detected, determines whether the output condition of the emergency stop request is satisfied, and outputs the emergency stop request and a request to stop in an area that does not hinder the progress of other traffic participants to the behavior plan generation unit, and when the emergency stop request is output, the behavior plan generation unit creates a behavior plan for immediate stop, and when the stop request is output, generates a behavior plan for stopping in an area that does not hinder the progress of other traffic participants. Then, the vehicle control unit of the vehicle control system drives each actuator according to the generated behavior plan. As a result, when the host vehicle cannot avoid stopping in an area that hinders the progress of other traffic participants even if the autonomous driving is continued, or when the host vehicle is in an area where the host vehicle does not hinder the progress of other traffic participants even if it stops on the spot, the host vehicle immediately stops, and otherwise, the host vehicle performs evacuation behavior and stops in an area where the host vehicle does not hinder the progress of other traffic participants, thereby preventing the evacuation behavior from being interrupted. Therefore, an effect is achieved that a behavior planning device and a vehicle control system capable of reducing the hindrance of the progress of other traffic participants can be obtained.

[0056] Embodiment 2 The behavior planning device, the vehicle control system, and the behavior plan generating method according to the second embodiment will be described below with reference to the drawings. The configurations of the behavior planning apparatus and vehicle control system according to the second embodiment are similar to those of the first embodiment shown in FIG. 1, and therefore will not be described.

[0057] 5A and 5B are flowcharts showing the operation of the vehicle control system 1000 and the action planning apparatus 100 according to the second embodiment. The process of the flowcharts of FIG. 5A and FIG. 5B is repeatedly executed while the host vehicle is traveling. Each step of FIG. 5A and FIG. 5B will be described in association with each functional unit shown in the functional block diagram of FIG. 1. Also, the process from step S201 to step S205 is the same as the process from step S101 to step S105 in FIG. 4 of the first embodiment, and therefore description thereof will be omitted.

[0058] In steps S201 to S205, the vehicle control system 1000 acquires each piece of information. In step S206, the stop request determination unit 120 determines whether the host vehicle is approaching an intersection based on the host vehicle position output from the host vehicle position acquisition unit 30 and the road information output from the road information acquisition unit 20. If it is determined that the host vehicle is approaching an intersection (Yes in step S206), the process proceeds to step S207, and if it is determined that the host vehicle is not approaching an intersection (No in step S206), the process proceeds to step S208. Here, the determination of "approaching" may be made by comparing the distance between the entrance stop line of the intersection and the vehicle with a preset threshold value, for example, whether the distance is equal to or less than a preset distance.

[0059] In step S207, the stop request determination unit 120 determines whether information for generating an action plan for avoiding the host vehicle from stopping in an area that would hinder the progress of other traffic participants has been acquired. Specifically, it is determined whether the host vehicle's own position, vehicle state information, road information, and obstacle information for planning the action of the host vehicle outside the area that would hinder the progress of other traffic participants has been acquired. If the necessary information has been acquired (Yes in step S207), the process proceeds to step S208, and if the information has not been acquired (No in step S207), the process proceeds to step S213.

[0060] In step S208, the stop request determination unit 120 determines whether or not an abnormality has occurred in any of the information based on the obstacle information around the vehicle output from the obstacle information acquisition unit 10, the obstacle information around the roadside output from the roadside information acquisition unit 50, the road information acquired from the road information acquisition unit 20, the self-position information acquired from the self-position acquisition unit 30, and the vehicle state information acquired from the vehicle state information acquisition unit 40. If an abnormality has occurred (Yes in step S208), the process proceeds to step S209. If no abnormality has occurred (No in step S208), the process proceeds to step S212.

[0061] In step S209, the stop request determination unit 120 determines whether or not the output condition for the emergency stop request is satisfied. If the output condition for the emergency stop request is satisfied (Yes in step S209), the process proceeds to step S210, and if the output condition is not satisfied (No in step S209), the process proceeds to step S211.

[0062] If the process proceeds to step S210, the action plan generation unit 140 outputs an instruction to stop the vehicle immediately because the vehicle cannot continue autonomous driving or the stopping position of the vehicle is not in an area that would hinder the progress of other traffic participants.

[0063] When the process proceeds to step S211, the action plan generating unit 140 generates and outputs an action plan that prevents the host vehicle from stopping in an area that would impede the progress of other traffic participants.

[0064] When the process proceeds to step S212, the action plan generating unit 140 outputs a command to continue following the route on which the host vehicle is currently traveling.

[0065] When the process proceeds to step S213, the stop request determination unit 120 outputs an output to make an emergency stop before entering the intersection, and the action plan generation unit 140 outputs an action plan to stop the host vehicle before entering the intersection. That is, the behavior planning device 100 determines whether information is available to take action to avoid stopping in an area that will have a high impact on other traffic participants before entering the intersection, and if information is not available, generates a behavior plan to stop before entering the intersection.

[0066] Furthermore, the output of the action plan generating unit 140 based on steps S210 to S213 is input to the vehicle control unit 200, which controls each actuator (not shown) that drives the vehicle, such as the brakes, steering wheel, etc.

[0067] As described above, according to the second embodiment, the same effect as that of the first embodiment can be obtained. That is, when an abnormality is detected based on the obstacle information, it is possible to obtain an action planning device and a vehicle control system that can prevent the evacuation behavior from being interrupted and reduce the hindrance to the progress of other traffic participants. Furthermore, before entering an intersection, it is determined whether or not information necessary for the vehicle to avoid stopping in an area that would hinder the progress of other traffic participants has been obtained, and if the necessary information has not been obtained, the vehicle is made to stop before entering the intersection. This provides the effect of providing a behavior planning device and a vehicle control system that can prevent the evacuation behavior from being interrupted in the intersection and reduce the hindrance to the progress of other traffic participants at the intersection.

[0068] Embodiment 3 The behavior planning device, the vehicle control system, and the behavior plan generating method according to the third embodiment will be described below with reference to the drawings. The configurations of the behavior planning apparatus and vehicle control system according to the third embodiment are similar to those of the first embodiment shown in FIG. 1, and therefore will not be described.

[0069] Fig. 6 is a diagram for explaining the operation of the action planning apparatus 100 according to the third embodiment. Fig. 6 shows a state in which the host vehicle OV, which keeps to the left, is approaching an intersection. The roadside unit RU installed on the roadside can detect obstacles in an area RUA shown in a dotted sector shape. Therefore, it is possible to detect road information and obstacle information within the intersection.

[0070] 7A and 7B are flowcharts showing the operation of the vehicle control system 1000 and the behavior planning apparatus 100 according to the third embodiment. The process of the flowcharts of FIG. 7A and FIG. 7B is repeatedly executed while the host vehicle is traveling. Each step of FIG. 7A and FIG. 7B will be described in association with each functional unit shown in the functional block diagram of FIG. 1. Furthermore, the processes of steps S301, S302, and S305 are the same as steps S101, S102, and S105 in FIG. 4 of the first embodiment. Furthermore, steps S306, S308, S309, S310, S311, S312, and S313 are the same as steps S206, S208, S209, S210, S211, S212, and S213 in the second embodiment, respectively. Therefore, the description will be simplified below.

[0071] First, in step S301, the obstacle information acquisition unit 10 acquires information about obstacles that exist around the host vehicle. In step S302, the self-location acquisition unit 30 acquires the self-location.

[0072] In step S303, the road information acquisition unit 20 acquires road information output from a road information detection unit (not shown) or road information from a map information acquisition unit. Furthermore, in the vicinity of an intersection, the road information acquisition unit 20 additionally acquires intersection road information distributed from a roadside unit RU or a remote control system installed in the vicinity of the intersection, such as intersection road information including passability information, construction information, drivable area information, and evacuation action information in the event of an abnormality calculated by the roadside unit RU or the remote control system.

[0073] In step S304, the roadside information acquisition unit 50 acquires obstacle information around the roadside output from the roadside unit RU or the remote control system. In addition, near an intersection, the roadside information acquisition unit 50 additionally acquires intersection obstacle information including obstacle information near the intersection, such as obstacles present on intersecting roads and obstacles in the blind spot of the vehicle, delivered from the roadside unit RU or the remote control system installed near the intersection.

[0074] In step S305, the vehicle state information acquisition unit 40 acquires abnormality detection information of the vehicle.

[0075] In step S306, the stop request determination unit 120 determines whether the host vehicle is approaching an intersection based on the host vehicle position output from the host vehicle position acquisition unit 30 and the road information output from the road information acquisition unit 20. If it is determined that the host vehicle is approaching an intersection (Yes in step S306), the process proceeds to step S307, and if it is determined that the host vehicle is not approaching an intersection (No in step S306), the process proceeds to step S308.

[0076] In step S307, it is determined whether intersection road information has been acquired in step S303 and whether intersection obstacle information has been acquired in step S304. If both have been acquired (Yes in step S307), the process proceeds to step S308. If both have not been acquired (No in step S307), the process proceeds to step S313. If only one type of information has been acquired, the process also proceeds to step S313.

[0077] It is sufficient if the intersection road information and intersection obstacle information can be acquired from the roadside unit RU arranged as an area RUA in which the intersection can be detected as shown in Fig. 6, but when the detection area is only partially provided for the intersection as shown in Fig. 3, or when there is no roadside unit RU near the intersection, it may not be possible to acquire both the intersection road information and the intersection obstacle information. Therefore, in step S307, if both have not been acquired (No in step S307), the process proceeds to step S313.

[0078] When the process proceeds to step S313, the stop request determination unit 120 issues an emergency stop request before the vehicle enters the intersection, and the action plan generation unit 140 outputs an action plan so that the host vehicle stops before entering the intersection. That is, when approaching an intersection, the behavior planning device 100 additionally acquires intersection road information and intersection obstacle information from normal driving, and if it is unable to acquire both, generates a behavior plan to stop before entering the intersection.

[0079] As described above, according to the third embodiment, the same effects as those of the first embodiment are achieved. Furthermore, when approaching an intersection, intersection road information and intersection obstacle information are acquired from a roadside device or a remote control system installed near the intersection, and if neither intersection road information nor intersection obstacle information is acquired, the vehicle stops before entering the intersection. This provides an advantage of obtaining an action planning device and a vehicle control system that can prevent evacuation behavior from being interrupted within the intersection and reduce hindrance to the progress of other traffic participants at the intersection. In addition, since information is acquired from a roadside device, it is also possible to simplify the sensors and calculation device on the vehicle side.

[0080] Each functional unit of the behavior planning apparatus 100 in the above-mentioned first to third embodiments may be realized as a hardware configuration of a vehicle control system 1000 illustrated in Fig. 8, that is, a vehicle control system 1000 including a calculation processing circuit 1001, a storage device 1002 including a ROM (Read Only Memory) in which a program for executing the function of each functional unit is stored and a RAM (Random Access Memory) for saving each data of the execution result of each functional unit which is a calculation result by the program, and an input / output circuit 1003. The input / output circuit 1003 receives as inputs an output result on obstacle information from an obstacle information detection unit 12 which is an obstacle detection sensor provided in the vehicle, self-position information detected by a self-position detection unit 32, and an output result on obstacle information from a roadside unit RU, and the like, and outputs control signals such as the speed and handling of the vehicle from the input / output circuit 1003 to a drive system device 2000 which is each actuator for driving the vehicle such as a brake and a handle.

[0081] A processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor) is applied to the arithmetic processing circuit 1001. Dedicated hardware may also be applied to the arithmetic processing circuit 1001. When the arithmetic processing circuit 1001 is dedicated hardware, the arithmetic processing circuit 1001 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of these.

[0082] Furthermore, the functional units of the behavior planning apparatus 100 and the vehicle control system 1000 may be realized by individual arithmetic processing circuits, or may be collectively realized by a single arithmetic processing circuit. Furthermore, each functional unit of the behavior planning device 100 and the vehicle control system 1000 can realize the above-mentioned functions by hardware, software, or a combination of these, with some functions being realized by a calculation processing circuit as dedicated hardware and other functions being realized by software.

[0083] 9 shows another example of the hardware configuration of the vehicle control system 1000. A communication circuit 1004 is further provided in addition to the configuration in FIG. The communication circuit 1004 includes a wide-area communication unit and a narrow-area communication unit as a communication module. The wide-area communication unit uses a predetermined wide-area wireless communication standard, such as LTE (Long Term Evolution) or 4G or 5G (5th Generation; 5th generation mobile communication system). The narrow-area communication unit uses, for example, DSRC (Dedicated Short Range Communications), and although not described in the above embodiment, it can be used for communication with other vehicles to obtain information about other vehicles around the vehicle. A certain communication speed is guaranteed for these communications.

[0084] For example, in the third embodiment, the intersection road information and intersection obstacle information may be obtained from other vehicles by vehicle-to-vehicle communication through short-range communication, or may be obtained from other information devices installed near the intersection through short-range communication.

[0085] Obstacle information from the roadside unit RU or the remote control system is received through communication with the vehicle control system 1000. Here, the communication uses, for example, LTE or 5G.

[0086] Each sensor of the obstacle information detection unit 12, the GNSS sensor of the self-position detection unit 32, and each sensor of the vehicle state detection unit 42 are mounted on the vehicle, and information is output from each sensor to the information acquisition unit 300 via a communication line, and is connected using, for example, a CAN (Control Area Network: registered trademark) or the like.

[0087] Furthermore, even when a part of the vehicle control system 1000 is outside the vehicle itself, such as a traffic control station, and activates an emergency stop, signals are sent and received via the communication circuit 1004 .

[0088] <Other embodiments> In the above, the behavior planning apparatus 100 and the vehicle control system 1000 are applied to an automobile as an example of a moving body, but the application is not limited to an automobile, and the behavior planning apparatus 100 can be applied to various other moving bodies. The behavior planning apparatus 100 can be used as an apparatus for planning the behavior of a moving body such as an in-building mobile robot that inspects the inside of a building, a line inspection robot, and a personal mobility. When the moving body is other than an automobile, it is also possible to acquire a travelable area of ​​the route on which the moving body travels as road information in the detection information in the road information detection unit. As the obstacle information acquired by the roadside unit RU, for example, information from an obstacle information detection unit provided in a building, a line, or within a range in which the personal mobility moves may be used.

[0089] In the above embodiment, the dimensions, shapes, relative positional relationships, implementation conditions, etc. of each component may be described, but these are merely examples in all aspects and are not limited to those described in the present specification. They can be applied to the embodiment alone or in various combinations. Therefore, countless modifications and equivalents not shown are assumed within the scope of the technology disclosed in the present specification, including, for example, modifying, adding, or omitting at least one component, and further, extracting at least one component in at least one embodiment and combining it with a component in another embodiment.

[0090] Furthermore, unless a contradiction arises, any component described in the above embodiments as being provided in "one" quantity may be provided in "one or more" quantities. Furthermore, each component in the embodiments described above is a conceptual unit, and the scope of the technology disclosed in this specification includes cases where one component is made up of multiple structures, where one component corresponds to a part of a structure, and even where multiple components are provided in one structure.

[0091] Furthermore, each of the components in the embodiments described above includes structures having other structures or shapes as long as they perform the same function. Furthermore, the descriptions in this specification are incorporated by reference for all purposes relating to the present technology, and none of them are admitted to be prior art.

[0092] Furthermore, each of the components described in the above embodiments is considered to be either software or firmware, or the corresponding hardware, and in both concepts, each component is referred to as a "unit" or a "processing circuit", etc.

[0093] Various aspects of the present disclosure are summarized below as appendices.

[0094] (Appendix 1) Obstacle information around the moving object acquired by the obstacle information acquisition unit; Position information of the moving object acquired by a self-position acquisition unit; Road information around the moving object acquired by a road information acquisition unit; Obstacle information around the roadside acquired by the roadside information acquisition unit, and A behavior planning device to which vehicle state information including a control state of the moving object acquired by a vehicle state information acquisition unit is input, a stop request determination unit that determines whether to output an emergency stop request for the moving body when it is determined that an abnormality has occurred in at least one of the obstacle information acquired by the obstacle information acquisition unit, the position information of the moving body acquired by the self-position acquisition unit, the road information acquired by the road information acquisition unit, the obstacle information acquired by the roadside information acquisition unit, and the vehicle state information acquired by the vehicle state information acquisition unit; and a behavior plan generating unit that generates a behavior plan for the moving object, The stop request determination unit When an abnormality is detected, When a preset emergency stop request output condition is satisfied, an emergency stop request is output. If the output condition is not satisfied, a stop request is output. The action plan generation unit generating an action plan for immediately stopping the vehicle when an emergency stop request is output from the stop request determination unit; a behavior planning device that, when a stop request is output from the stop request determination unit, generates a behavior plan for avoiding the moving body from stopping in an area that would hinder the progress of other traffic participants. (Appendix 2) The stop request determination unit When it is determined that the abnormality has occurred, The behavior planning device according to claim 1, wherein an emergency stop request is output when the moving body cannot avoid stopping within the area if it continues traveling. (Appendix 3) The stop request determination unit When it is determined that the abnormality has occurred, 3. The behavior planning device according to claim 1, further comprising: a request for an emergency stop being output when a position where the moving body makes an emergency stop is within a stopping-permitted area included in the road information. (Appendix 4) The stop request determination unit Further, it is determined whether the moving object is approaching an intersection, When it is determined that the moving object is approaching the intersection, outputting an emergency stop request when any one of the obstacle information around the moving object acquired by the obstacle information acquisition unit, the position information of the moving object, the road information, the obstacle information around the roadside acquired by the roadside information acquisition unit, and the vehicle state information has not been acquired; The action plan generation unit 4. The behavior planning device according to claim 1, further comprising: a behavior plan that causes the moving body to stop before entering the intersection. (Appendix 5) The stop request determination unit Further, it is determined whether the moving object is approaching an intersection, When it is determined that the moving object is approaching the intersection, the vehicle further acquires intersection road information from the road information acquisition unit and intersection obstacle information from the roadside information acquisition unit; If both the intersection road information and the intersection obstacle information cannot be acquired, an emergency stop request is output. The action plan generation unit 4. The behavior planning device according to claim 1, further comprising: a behavior plan that causes the moving body to stop before entering the intersection. (Appendix 6) 6. The behavior planning device according to claim 1, further comprising: the obstacle information acquisition unit, the self-position acquisition unit, the road information acquisition unit, the roadside information acquisition unit, and the vehicle state information acquisition unit. (Appendix 7) 7. A vehicle control system comprising: the behavior planning device according to any one of claims 1 to 6; and a vehicle control unit that controls a moving object. (Appendix 8) A behavior plan generating method executed by using a behavior planning device, comprising: acquiring obstacle information around the moving object; acquiring location information of the moving object; acquiring road information around the moving object; Obtaining obstacle information around a roadside; acquiring vehicle state information including a control state of the moving body; determining whether or not an abnormality has occurred in at least one of the acquired obstacle information around the moving object, the position information of the moving object, the road information, the obstacle information around the roadside, and the vehicle state information; When it is determined that the abnormality has occurred, When a preset emergency stop request output condition is satisfied, an emergency stop request is output. outputting a stop request when the output condition is not satisfied; When the emergency stop request is output, an action plan is made to immediately stop the vehicle. and generating, when the stop request is output, a behavior plan for avoiding the moving body from stopping in an area that would hinder the progress of other traffic participants. (Appendix 9) the preset condition for outputting an emergency stop request is a case where the moving body cannot avoid stopping within the area if it continues traveling, When it is determined that the abnormality has occurred, The method for generating a behavior plan according to claim 8, further comprising the step of outputting an emergency stop request when the moving body cannot avoid stopping within the area if it continues traveling. (Appendix 10) Before the step of determining whether or not an abnormality has occurred, determining whether the moving object is approaching an intersection; When it is determined that the moving object is approaching the intersection, if any one of obstacle information around the moving object, position information of the moving object, the road information, obstacle information around the roadside, and the vehicle state information has not been acquired, outputting an emergency stop request and generating an action plan for stopping the moving object before it enters the intersection; 10. The method for generating an action plan according to claim 8 or 9, further comprising: (Appendix 11) Before the step of determining whether or not an abnormality has occurred, determining whether the moving object is approaching an intersection; acquiring intersection road information from the road information and intersection obstacle information from the obstacle information around the roadside when it is determined that the moving object is approaching the intersection; if both the intersection road information and the intersection obstacle information cannot be acquired, outputting an emergency stop request and generating an action plan for stopping the moving body before the moving body enters the intersection; 10. The method for generating an action plan according to claim 8 or 9, further comprising: [Explanation of symbols]

[0095] 10: Obstacle information acquisition unit, 12, 12a, 12b, 12c, 12d, 12e, 12f, 12g: Obstacle information detection unit, 20: Road information acquisition unit, 30: Self-position acquisition unit, 32: Self-position detection unit, 40: Vehicle state information acquisition unit, 41: Vehicle abnormality detection unit, 42: Vehicle state detection unit, 50: Roadside information acquisition unit, 100: Action planning device, 120: Stop request determination unit, 140: Action plan generation unit, 200: Vehicle control unit, 300: Information acquisition unit, 1000: Vehicle control system, 1001: Arithmetic processing circuit, 1002: Storage device, 1003: Input / output circuit, 1004: Communication circuit, 2000: Drive system device, OV: Vehicle, RU: Roadside unit, RUA: Area, CNF: Area, SN1,SN2,SN3,SN4,SN5,SN6,SN7: Detection range, SL1,SL2,SL3,SL4: Stop line, SP: Stop position, STR Straight path.

Claims

1. Obstacle information around the moving object acquired by the obstacle information acquisition unit; Position information of the moving object acquired by a self-position acquisition unit; Road information around the moving object acquired by a road information acquisition unit; Obstacle information around the roadside acquired by the roadside information acquisition unit, and A behavior planning device to which vehicle state information including a control state of the moving object acquired by a vehicle state information acquisition unit is input, a stop request determination unit that determines whether to output an emergency stop request for the moving body when it is determined that an abnormality has occurred in at least one of the obstacle information around the moving body acquired by the obstacle information acquisition unit, the position information of the moving body acquired by the self-position acquisition unit, the road information acquired by the road information acquisition unit, the obstacle information around the roadside acquired by the roadside information acquisition unit, and the vehicle state information acquired by the vehicle state information acquisition unit; and a behavior plan generating unit that generates a behavior plan for the moving object, The stop request determination unit When it is determined that the abnormality has occurred, When a preset condition for outputting the emergency stop request is satisfied, the emergency stop request is output. If the output condition is not satisfied, a stop request is output. The action plan generation unit generating an action plan for immediately stopping the vehicle when the emergency stop request is output from the stop request determination unit; a behavior planning device that, when the stop request is output from the stop request determination unit, generates a behavior plan to avoid the moving body from stopping in an area that would hinder the progress of other traffic participants.

2. The stop request determination unit When it is determined that the abnormality has occurred, The behavior planning device according to claim 1 , wherein the emergency stop request is output when the moving object cannot avoid stopping within the area if it continues traveling.

3. The stop request determination unit When it is determined that the abnormality has occurred, The behavior planning device according to claim 1 , wherein the emergency stop request is output when a position where the moving body makes an emergency stop is within a stopping permission area included in the road information.

4. The stop request determination unit Further, it is determined whether the moving object is approaching an intersection, When it is determined that the moving object is approaching the intersection, outputting the emergency stop request when any one of the obstacle information around the moving object acquired by the obstacle information acquisition unit, the position information of the moving object, the road information, the obstacle information around the roadside acquired by the roadside information acquisition unit, and the vehicle state information has not been acquired; The action plan generation unit The behavior planning apparatus according to claim 1 , further comprising: a behavior plan that causes the mobile body to stop before entering the intersection.

5. The stop request determination unit Further, it is determined whether the moving object is approaching an intersection, When it is determined that the moving object is approaching the intersection, the vehicle further acquires intersection road information from the road information acquisition unit and intersection obstacle information from the roadside information acquisition unit; When both the intersection road information and the intersection obstacle information cannot be acquired, the emergency stop request is output. The action plan generation unit The behavior planning apparatus according to claim 1 , further comprising: a behavior plan that causes the mobile body to stop before entering the intersection.

6. The action planning device according to claim 1 , further comprising: the obstacle information acquisition unit, the self-position acquisition unit, the road information acquisition unit, the roadside information acquisition unit, and the vehicle state information acquisition unit.

7. A vehicle control system comprising: the behavior planning device according to claim 1 ; and a vehicle control unit that controls the moving body.

8. A behavior plan generating method executed by using a behavior planning device, comprising: acquiring obstacle information around the moving object; acquiring location information of the moving object; acquiring road information around the moving object; Obtaining obstacle information around a roadside; acquiring vehicle state information including a control state of the moving body; determining whether or not an abnormality has occurred in at least one of the acquired obstacle information around the moving object, the position information of the moving object, the road information, the obstacle information around the roadside, and the vehicle state information; When it is determined that the abnormality has occurred, When a preset condition for outputting an emergency stop request is satisfied, the emergency stop request is output. outputting a stop request when the output condition is not satisfied; When the emergency stop request is output, an action plan is made to immediately stop the vehicle. and generating, when the stop request is output, a behavior plan for avoiding the moving body from stopping in an area that would hinder the progress of other traffic participants.

9. The preset condition for outputting the emergency stop request is a case in which the moving body cannot avoid stopping within the area if it continues traveling, When it is determined that the abnormality has occurred, The method for generating a behavior plan according to claim 8 , further comprising the step of outputting the emergency stop request when the moving object cannot avoid stopping within the area if it continues traveling.

10. Before the step of determining whether or not an abnormality has occurred, determining whether the moving object is approaching an intersection; When it is determined that the moving object is approaching the intersection, if any one of obstacle information around the moving object, position information of the moving object, the road information, obstacle information around the roadside, and the vehicle state information has not been acquired, outputting the emergency stop request and generating an action plan for stopping the moving object before it enters the intersection; The method of claim 8 or 9, further comprising:

11. Before the step of determining whether or not an abnormality has occurred, determining whether the moving object is approaching an intersection; acquiring intersection road information from the road information and intersection obstacle information from the obstacle information around the roadside when it is determined that the moving object is approaching the intersection; if both the intersection road information and the intersection obstacle information cannot be acquired, outputting the emergency stop request and generating an action plan for stopping the moving body before the moving body enters the intersection; The method of claim 8 or 9, further comprising:

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